Setup: PX4 v1.11 <-- FastRTPS --> ROS2 Foxy
Some messages have much higher publishing rates than I need. What is the appropriate way of lowering the rates? The v1.11 release only provides the -w option (v1.9 also had -u) for the micrortps_client, which limit the rates of all messages.
- Is the -w option the appropriate and only way (without modifying source)?
- What if I want to adjust the rate of a single message - can it be done?
- When using the -w option, is this simply implemented as a subsampling of the uORB messages?
- Does the baudrate option (-b) impose any dynamic adjustment of the rates?