ROS Python package for throttling ROS nodes programatically in Python. Sits on top of ros_comm topic_tools throttle utility.
The rosthrottle package provides two types of throttlers: MessageThrottle and Bandwidth Throttle.
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()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.