Is there an possibility to have an higher publish rate than the fps

[LukasD97]

Currently it seems like the maximum Publish rate of an Node is bound to the frame rate. Is there an option to allow higher pub rates?

[yuokamoto]

Currently there is no option to pub since it does not make sense update information higher than simulation update. Are there any use case to publish higher than frame rate?

[james-yoo]

Generally IMU sensor publish acceleration and gyro in high frequency(200hz, 400hz).

[yuokamoto]

hmm, I see but since it is higher than frame rate(higher than simulation world state update), it will result in publishing same contents in same frame. By customizing publisher, it can be possible to publish multiple times in one frame but not sure it make sense or not

[LukasD97]

It makes sense to me because another plugin delivers data at a much higher rate. Is this an easy or difficult thing to achieve?

[yuokamoto]

• which plugin?
• you can publish manually please refer. you can publish multiple times in one tick https://github.com/rapyuta-robotics/turtlebot3-UE/blob/6f118f8a08f5b5251e458b014d9a8a03c35736ab/Source/turtlebot3/ROS2Examples/ROS2PublisherNode.cpp#L35

[LukasD97]

jsbsim plugin for flight simulation. Is this also possible in the blueprint, my project is build with blueprints?

[yuokamoto]

bp https://rclue.readthedocs.io/en/devel/examples/publisher_example.html#bp-publisher