ROS消息阻塞，命令行同一行打印多个相同的数据

1. 问题描述

如下图所示，数据的传输通过TCP-IP通信，客户端接收到消息以后用rostopic 发布出去，rosinfo打印消息，原本一行出现一个数据（在服务器这端是这样），但是图中一行出现了两个甚至多个，RR，RP

2. 解决方法：

产生这个问题的原因是接收端（客户端）接收了以后，rostopic发布出去的频率不够，导致消息阻塞，发布在了同一行。也就是rate = rospy.Rate(50) # 10hz这一行代码，决定了ros发布的频率，原先设置的是10HZ，但是服务器发过来的数据大于10HZ，所以就阻塞了，有些数据发在了同一行

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import roslib
import rospy
#import tf
#import math
#import numpy as np
#from tf import transformations
from std_msgs.msg import Float32
from std_msgs.msg import String

import socket
#import json
#import time
# import sys

# def get_tf():

# rospy.init_node('talker', anonymous=True)
# pub = rospy.Publisher('gesture', String, queue_size=10)


# s = socket.socket()
# IP = "192.168.103.13"
# port = 12345
# # address = ('192.168.103.13', 12345)
# # readdress = ('192.168.103.26', 12345)
# # host = socket.gethostname()
# # port = 60000
#
#
#
# # s.connect(address)
#
#
# s.connect((IP, port))


# hand_msg = s.recv(1024)
# print(hand_msg)
#     print (s.recv(1024).decode())

    # gesture_flag = s.recv(1024).decode()
    # rospy.loginfo(gesture_flag)
    # print(gesture_flag)
    # pub.publish(gesture_flag)

# s.close()


if __name__ == '__main__':
    s = socket.socket()
    IP = "192.168.103.13"
    port = 12345
    s.connect((IP, port))
    #gesture_flag = s.recv(1024).decode()

    rospy.init_node('talker', anonymous=True)
    #pub = rospy.Publisher('gesture', String, queue_size=10)
    #gesture_flag = s.recv(1024).decode()
    #rospy.init_node('talker', anonymous=True)

    rate = rospy.Rate(50) # 10hz
    while not rospy.is_shutdown():
        gesture_flag = s.recv(1024).decode()
        #pub = rospy.Publisher('gesture', String, queue_size=10)
        pub = rospy.Publisher('gesture', String)
             # hello_str = "hello world %s" % rospy.get_time()
        #rospy.loginfo(gesture_flag)
        print (gesture_flag)
        pub.publish(gesture_flag)

        rate.sleep()
        #rospy.spin()