We are using Foxglove as a visualization tool for our ROS2 Foxy system on Ubuntu 20, but we are running into bandwidth issues with the rosbridge websocket. We have plans to switch to using the foxglove_bridge websockets since they advertise performance improvement, but are waiting until we migrate to ROS Humble.
When a client initiates a subscription to a topic, it can also pass along options to the server to throttle the message rate for each topic.
Where do I change those options? They must be set within the client, but I couldn't find anything within the GUI to set it.
I'm running foxglove-studio from binaries installed through apt. The only source code I have for the foxglove-studio is a few custom extension panels.
My temporary fix is to filter out the topics I want to throttle and hard-code the throttle_rate option within the rosbridge server before the options are passed to the subscriber handler.
This will work for the demo we have coming up, but I'm searching for a better solution.
Foxglove Studio currently uses a hard-coded set of parameters for creating the roslib Topic object and so does not support throttling. To achieve this you'd currently need to either: