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Just curious about how the publishing frequency is implemented? #155

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leoxiang66 opened this issue Nov 18, 2024 · 1 comment

leoxiang66 commented Nov 18, 2024

Hi I walk through the code for a while but I didn't find how the publishing frequency is implemented?

Anyone please help me thx!

georgflick commented Nov 18, 2024

it's in the checkTimer function in pub_handler.cpp

livox_ros_driver2/src/comm/pub_handler.cpp

Line 204 in 6b9356c

if (now_time - last_pub_time_ < std::chrono::nanoseconds(publish_interval_)) {

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