How the rospy.sleep and how the rospy.Rate() works

[bayodesegun]

Please check the following post and let me know if it helps.

Proper use of rospy.Rate or ros::Rate

Background I created this topic because I frequently come across the use of rospy.Rate (ROS Python) and ros::Rate (ROS C++) in places where they are not needed. By the way, what is this Rate thingy? According to ROS Wiki, rospy.Rate and ros::Rate are convenience classes that make a best effort at maintaining a particular rate for a loop. For example: // C++ example ros::Rate r(10); // 10 hz while (ros::ok()) { // ... do some work ... r.sleep(); } # Python example r = rospy.Rate(10) # …