Get HZ from Rostopic for Subscriber(topic) and Publisher(topic)

edit

I'd like to find HZ in python code with kinetic version for Subscriber("/camera/rgb/image_raw") and Publisher('control').

I started to find hz of Publisher('control')

The output for 'control' is no new messages

Please help me.

Thanks in advince!

Full the code:

#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division
from __future__ import absolute_import
import rospy, rostopic
import cv2
from std_msgs.msg import String, Float32MultiArray, Bool, Float32
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image, PointCloud2

class Detector:
    def __init__(self):
        self.r = rostopic.ROSTopicHz(-1)
        self.pubtracking = rospy.Publisher('control', Float32MultiArray,   self.r.callback_hz, queue_size=1)
        rospy.Timer(rospy.Duration(1 / 50), self.control)

        self._bridge = CvBridge()
        # rospy.Subscriber("/camera/rgb/image_color", Image, self.image_callback)
        rospy.Subscriber("/camera/rgb/image_raw", Image, self.image_callback)
        # rospy.Subscriber("/usb_cam/image_raw", Image, self.image_callback)
        # rospy.Subscriber('/camera/depth/points', PointCloud2, self.pc_callback)
        # rospy.Subscriber('stopback', Bool, self.shutdownlistener)
        self._current_image = None
        self._current_pc = None
        # self.array = 0
        self.error_v = 0
        self.error_w = 0



    def image_callback(self, image):
        self._current_image = image
    # def run(self):
        global error_v, error_w, array
        # rate = rospy.Rate(30)
        # while not rospy.is_shutdown():
        if self._current_image is not None:
            try:
                scene = self._bridge.imgmsg_to_cv2(self._current_image, "bgr8")
                self.error_v = 2
                self.error_w = 1
                # hello_str = [error_v, error_w]
                # array = Float32MultiArray(data=hello_str)
                # rospy.Timer(rospy.Duration(1), self.control)
                # self.control()

                # r = rostopic.ROSTopicBandwidth('/camera/rgb/image_raw')
                # r = rostopic.ROSTopicBandwidth('/camera/rgb/image_raw')
                # print (r.print_bw())

                cv2.imshow("image", scene)
                key = cv2.waitKey(1)
            except CvBridgeError as e:
                print(e)
        # rate.sleep()

    def control(self, event=None):
        # error_v = 2
        # error_w = 1
        hello_str = [self.error_v, self.error_w]
        # print hello_str
        array = Float32MultiArray(data=hello_str)
        self.pubtracking.publish(array)

        self.r.print_hz(['/control'])
        # rospy.Timer(rospy.Duration(1 / 30), self.control)
        # rospy.spin()





if __name__ == '__main__':
    rospy.init_node('dodo_detector_ros', log_level=rospy.INFO)
    try:
        tr = Detector()
        # tr.run()
        rospy.spin()
        # tr.control()
    except KeyboardInterrupt:
        rospy.loginfo('Shutting down')