Constant publish rate?

[zfanCode]

Hi,

I am trying to get a constant publish frequency for Fovis using a Kinect Odometer. Fovis is currently using a changing publish frequency, but in our application we somehow need to make the publish frequency a constant (or approximately constant).

Is it a way to do it? I tried to read the code, but it seems the publishing routine is a callback, which is assigned to xxxxx, and I don't quite understand how it works.

Here is my currently understanding:

1. In odometer_base.hpp, the function process() is a routine to process messages and publish them.
2. In mono_depth_odometer.cpp, the function imageCallbak() calls process() above; then imageCallback() is called by dataCb().
3. Then, dataCb() is registered as a callback in mono_depth_odometer.hpp, with the following lines:

    if (approx)
    {
      approximate_sync_.reset(new ApproximateSync(ApproximatePolicy(queue_size_),
                                                  image_sub_, depth_sub_, image_info_sub_, depth_info_sub_) );
      approximate_sync_->registerCallback(boost::bind(&MonoDepthProcessor::dataCb, this, _1, _2, _3, _4));
    }
    else
    {
      exact_sync_.reset(new ExactSync(ExactPolicy(queue_size_),
                                      image_sub_, depth_sub_, image_info_sub_, depth_info_sub_) );
      exact_sync_->registerCallback(boost::bind(&MonoDepthProcessor::dataCb, this, _1, _2, _3, _4));
    }

Is there a way a way to have a constant publish rate?