rosthrottle repository

Repository Summary

Checkout URI https://github.com/UTNuclearRoboticsPublic/rosthrottle.git
VCS Type git
VCS Version master
Last Updated 2019-05-06
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
rosthrottle 1.2.0

README

rosthrottle

ROS Python package for throttling ROS nodes programatically in Python. Sits on top of ros_comm topic_tools throttle utility.

Use

The rosthrottle package provides two types of throttlers: MessageThrottle and Bandwidth Throttle.

MessageThrottle

Used to throttle a topic on a message frequency basis. Example:

from rosthrottle import MessageThrottle

intopic = 'in'
outtopic = 'out_throttled'
rate = 1.0
bt = MessageThrottle(intopic, outtopic, rate)
# start throttler process
pid = bt.start()
# update throttler configuration
bt.update(rate=5.0)
# kill throttler
bt.stop()

BandwidthThrottle

Used to throttle a topic on a bandwidth basis. Example:

from rosthrottle import BandwidthThrottle

intopic = 'in'
outtopic = 'out_throttled'
bandwidth = 1024
window = 1.0
bt = BandwidthThrottle(intopic, outtopic, bandwidth, window)
# start throttler process
pid = bt.start()
# update throttler configuration
bt.update(bandwidth=100)
# kill throttler
bt.stop()

See src/rosthrottle/tests/ for additional examples and documentation.

CONTRIBUTING

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