BTW, I’m not sure that rclcpp::Rate spins while it sleeps. It hasn’t in times gone by. Generally, you will break things in ROS2 if you sleep instead of spin; your buffers will overflow, etc. We usually use the timeouts on the spin methods instead.
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BTW, I’m not sure that rclcpp::Rate spins while it sleeps. It hasn’t in times gone by. Generally, you will break things in ROS2 if you sleep instead of spin; your buffers will overflow, etc. We usually use the timeouts on the spin methods instead.