/scan topic is published at 360+ hz

[maurya3]

HI, the publishing frequency of the /scan topic is very high. Please suggest me how to change the rate of the /scan publisher?

roslaunch pf_driver r2000.launch R2000: transport: "udp" scanner_ip: "10.0.10.9" port: "3000" # optional device: "R2000" start_angle: -1800000 max_num_points_scan: 0 packet_type: "C" scan_topic: "/scan" frame_id: "r2000_scanner_link" watchdogtimeout: 60000 watchdog: true

Thank You in advance.

[ptruka]

Hi, could you please provide the information: curl "http://[scanner-ip]/cmd/get_parameter?list=product;part;revision_fw;revision_hw;scan_frequency;samples_per_scan"

I just checked rostopic hz /scan with my R2000 UHD device with of scan_frequency of 50 hz, and got:

subscribed to [/scan]
average rate: 50.010
    min: 0.000s max: 0.041s std dev: 0.01070s window: 50
average rate: 49.988
    min: 0.000s max: 0.041s std dev: 0.01270s window: 100

[ptruka]

@maurya3 did you had the chance to take a look?

[ptruka]

closed due to inactivity