Change publish rate for GNSS measurements

septentrio-gnss / septentrio_gnss_driver

ROS 1 & 2 driver for Septentrio GNSS & INS receivers

BSD 3-Clause "New" or "Revised" License

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Change publish rate for GNSS measurements #118

Closed wvergouwenavular closed 3 months ago

wvergouwenavular commented 3 months ago

Hi!

Is there any parameter in the package to change the publish rate for all the GNSS topics? Right now, they are being published at 100 Hz, which causes are state estimator using the GNSS measurement to behave weirdly.

Ideally, we would like to set it to 1 Hz.

Is this possible?

Thanks!

thomasemter commented 3 months ago

Hi,

for sure. The parameter you are searching for is

polling_period:
  pvt: 1000
  rest: 1000

The values are in ms.

Cheers!

wvergouwenavular commented 3 months ago

Thanks @thomasemter ! That was indeed the parameter I was looking for, somehow I missed it in the readme. :no_good: