When the fixed frequency artifact falls in love with multithreading | ros2 fixed frequency topic release demo

We want to publish topics at a fixed rate , May adopt ROS2 Timing artifact in Rate, Unclear Rate You can read this article of Xiaoyu ：ROS Can you use the fixed frequency artifact in

In order to be able to recycle all the time rate, We open a separate thread for publishing joint_states Topic data , stay ROS2 In the program, the routine of opening a thread separately for topic publishing is as follows ：

import threadingfrom rclpy.node import Node
class RotateWheelNode(Node):    def __init__(self):        #  Create a Rate And thread         self.pub_rate = self.create_rate(5) #5Hz        #  Create thread         self.thread_ = threading.Thread(target=self._thread_pub)        self.thread_.start()
    def _thread_pub(self):        while rclpy.ok():            # Do something , Use rate Ensure the cycle frequency             self.pub_rate.sleep()