Inconsistent publishing rate for sensors #166

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1. RyodoTanaka commented on Aug 13, 2024

   

   RyodoTanaka

   on Aug 13, 2024

   Last edited by RyodoTanaka

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   @alonsollorente
   Thank you for updating the issue.
   This issue is related to #156 (It is written in Japanese, but discussing same topic)
   The main reason of this problem comes from using Update() function.
   To fix this, we should use FixUpdate() function.
   https://github.com/Field-Robotics-Japan/UnitySensors/blob/master/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/RosMsgPublisher.cs#L39
   https://github.com/Field-Robotics-Japan/UnitySensors/blob/master/Assets/UnitySensors/Runtime/Scripts/Sensors/IMU/IMUSensor.cs#L51

   But, this problem is already fixed in develop branch.
   Thus, please try to use develop branch.
   Now, merging PR from develop into master is under development (#163)
2. alonsollorente commented on Aug 13, 2024

   

   alonsollorente

   on Aug 13, 2024

   Last edited by alonsollorente

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   Hi!

   Thank you for the fast answer. I checked that the Update() function in the LiDAR publisher case is the same in the develop and master branch. I don't know if maybe I'm approaching it wrong...

   Furthermore, I tried the project in the develop branch, and is still inconsistent in frequency for both sensors.
3. RyodoTanaka commented on Aug 13, 2024

   

   RyodoTanaka

   on Aug 13, 2024

   Last edited by RyodoTanaka

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   @alonsollorente

   the Update() function in the LiDAR publisher case is the same in the develop.

   Yes, you are right. It is still not fixed in develop branch about LiDAR Publisher.

   I tried the project in the develop branch, and is still inconsistent in frequency for both sensors.

   About this, I need to find the reason why especially for IMU sensors.
   I think it takes a bit long time to fix. But if someone find the solution, comment it please.
4. Bob-Eric commented on Nov 20, 2024

   

   Bob-Eric

   on Nov 20, 2024

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   Hi there!
   I have tried these sensors in both ROS1 and ROS2 and they work fine.
   However, you have to be aware of the frame rate in Unity.
   Currently it is not possible to publish sensors faster than the frame rate.

   

   👍React with 👍1Reacted by Ryodo Tanaka
5. RyodoTanaka commented on Mar 3, 2025

   

   RyodoTanaka

   on Mar 3, 2025

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   This Issue would related with following.
   https://github.com/Field-Robotics-Japan/UnitySensors/pull/188/files#diff-5d75f813dd50b7d273b40a2fe62b8e907eb1bf7e23aac2d6fd35685f24272d34R54
6. wangguohao-github commented on May 15, 2025

   

   wangguohao-github

   on May 15, 2025

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   Hi, i have fixed this problem. You could replace unitysensor.cs by the following.

   `using UnityEngine;
   // using Unity.Robotics.ROSTCPConnector;

   namespace UnitySensors.Sensor
   {
   public abstract class UnitySensor : MonoBehaviour
   {
   [SerializeField]
   private float _frequency = 10.0f;

       private float _time;
       private float _dt;
       private float _frequency_inv;
       private float _dt_step;
   
       public delegate void OnSensorUpdated();
       public OnSensorUpdated onSensorUpdated;
   
       public float sensorDeltaTime => _dt_step;
   
   
       public float time => _time;
   
       private void Awake()
       {
           _dt = 0.0f;
           _frequency_inv = 1.0f / _frequency;
           Init();
       }
   
       protected virtual void Update()
       {
           _dt += Time.deltaTime;
   
           while (_dt >= _frequency_inv)
           {
               _dt -= _frequency_inv;
   
               _time = Time.time;
               _dt_step = _frequency_inv;
   
               UpdateSensor();
           }
       }
   
       private void OnDestroy()
       {
           onSensorUpdated = null;
           OnSensorDestroy();
       }
   
       protected abstract void Init();
       protected abstract void UpdateSensor();
       protected abstract void OnSensorDestroy();
   }
   

   }
   `