ROS订阅者回调缺少消息

摘要：我有一个节点在 ~300hz 发布消息，但在另一个节点中订阅主题的回调仅在 ~25hz 处被调用。订阅者节点中的 spinOnce 在 ~700hz 处调用，所以我不知道为什么它缺少消息。

发布方节点：

#include <ros/ros.h>
#include <ros/console.h>
#include <nav_msgs/Odometry.h>
...
int main(int argc, char** argv)
{
ros::init(argc, argv, "sim_node");
ros::NodeHandle nh;
...
// Publishers
tf::TransformBroadcaster tfbr;
ros::Publisher odomPub = nh.advertise<nav_msgs::Odometry>("pose",10);
...
ros::Rate r(300); // loop rate
while(ros::ok())
{
...
// Publish pose and velocity
...
odomPub.publish(msg);
ros::spinOnce();
r.sleep();
}

ros::waitForShutdown();
return 0;
}

订阅者节点：

#include <ros/ros.h>
#include <ros/console.h>
#include <nav_msgs/Odometry.h>
...
std::mutex mtx1, mtx2;
class DataHandler
{
private:
ros::NodeHandle nh;
ros::Publisher odomPub;
double lastTime;
int lastSeq;

public:
Eigen::Vector3d x, xDot, w;
Eigen::Vector3d xDes, xDesDot, xDesDotDot, b1Des, b1DesDot;
Eigen::Matrix3d R;

DataHandler()
{
// Initialize data
xDes = Eigen::Vector3d(1,0,1);
xDesDot = Eigen::Vector3d::Zero();
xDesDotDot = Eigen::Vector3d::Zero();
b1Des = Eigen::Vector3d(1,0,0);
b1DesDot = Eigen::Vector3d::Zero();
x = Eigen::Vector3d::Zero();
xDot = Eigen::Vector3d::Zero();
R = Eigen::Matrix3d::Identity();
odomPub = nh.advertise<nav_msgs::Odometry>("controller_pose",10);
trajPub = nh.advertise<asap_control::DesiredTrajectory>("controller_desTraj",10);
lastTime = ros::Time::now().toSec();
lastSeq = 0;
}

// Get current pose and velocity
void odomCB(const nav_msgs::OdometryConstPtr& odomMsg)
{
mtx1.lock();
// Get data
double time1 = ros::Time::now().toSec();
x << odomMsg->pose.pose.position.x, odomMsg->pose.pose.position.y, ...;
xDot << odomMsg->twist.twist.linear.x, odomMsg->twist.twist.linear.y, ...;
R = Eigen::Quaterniond(odomMsg->pose.pose.orientation.w, odomMsg->pose.pose.orientation.x,...;
w << odomMsg->twist.twist.angular.x, odomMsg->twist.twist.angular.y, ...;
double time2 = ros::Time::now().toSec();

// Time to extract data, < 1ms
double delTproc = time2 - time1;
std::cout << "nn";
std::cout << "proc elapsed time: " << delTproc << "n";
std::cout << "proc frequency: " << 1.0/delTproc << "n";
odomPub.publish(odomMsg); // rostopic hz says this is publishing at ~25Hz

// Time between callback calls, ~25Hz
double timeNow = ros::Time::now().toSec();
double delT = timeNow - lastTime;
lastTime = timeNow;
std::cout << "elapsed time: " << delT << "n";
std::cout << "frequency: " << 1.0/delT << "n";

// Message sequence IDs, shows 12 msgs skipped every call
int seqNow = odomMsg->header.seq;
int delSeq = seqNow - lastSeq;
lastSeq = seqNow;
std::cout << "delta seq: " << delSeq << "n";
mtx1.unlock();
}

};
...
int main(int argc, char** argv)
{
ros::init(argc, argv, "asap_control");
ros::NodeHandle nh;
...
// Publishers
ros::Publisher outputPub = nh.advertise<geometry_msgs::WrenchStamped>("wrench_command",10);
ros::Publisher debugPub = nh.advertise<control::ControllerSignals>("controller_debug",10);
tf::TransformBroadcaster tfbr;
// Subscribers
DataHandler callbacks;
ros::Subscriber poseSub = nh.subscribe("pose",10,&DataHandler::odomCB,&callbacks);
// Asynchronous threads for callback handling
//ros::AsyncSpinner spinner(2);
//spinner.start();
double lastTime = ros::Time::now().toSec();

// Main loop
ros::Rate r(700); // loop rate
while(ros::ok())
{
// Data (extracted for cleanliness further down, and thread safety)
mtx1.lock();
Eigen::Vector3d x = callbacks.x;
Eigen::Vector3d xDot = callbacks.xDot;
Eigen::Matrix3d R = callbacks.R;
Eigen::Vector3d w = callbacks.w;
mtx1.unlock();

...

// Publish
...
outputPub.publish(msg);

// Publish debug signals
control::ControllerSignals debugMsg;
debugMsg.x[0] = x(0);
...
debugPub.publish(debugMsg);

//double timeNow = ros::Time::now().toSec();
//double delT = timeNow - lastTime;
//lastTime = timeNow;
//std::cout << "nn";
//std::cout << "elapsed time: " << delT << "n";
//std::cout << "frequency: " << 1.0/delT << "n";

ros::spinOnce();
r.sleep();
}

ros::waitForShutdown();
return 0;
}

附加信息：

1. 出版商以~300Hz发布(由"姿势"主题rostopic hz确认)
2. 订阅者节点中的主循环以 ~700Hz 运行(通过循环中发布到的"wrench_command"主题的rostopic hz以及通过ros::Time::now()的循环计时确认)，因此，spinOnce以相同的速率被调用。
姿势主题的回调以
3. ~25 Hz 调用(通过回调中发布到的"controller_pose"主题的rostopic hz以及通过ros::Time::now()的循环计时确认)
4. 即使我使用AsyncSpinner而不是spinOnce，我也得到相同的行为，尽管只能确认使用rostopic hz.时序产生不稳定的输出，如预期的那样
5. 将订阅者queue_length增加到例如 10 会将回调速率增加到 ~250Hz，但是，我想保持 1 queue_length以仅获取最新数据。
6. Ubuntu 中的系统监视器显示 CPU 利用率低于 50%，因此我认为这不是 CPU 瓶颈问题。