When I subscribed to nav_msgs/Odometry data which is published at a frequency of 100hz, the callback processed the data slowly and the data was lost, thanks.

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Hi, when I subscribed to nav_msgs/Odometry data which is published at a frequency of 100hz, the callback processed the data slowly and the data was lost. Even if it do nothing with the data, just print it to the screen. Here is my code, thanks. Details are below the code.

subscriber.cpp

#include "ros/ros.h"
#include "nav_msgs/Odometry.h"

void Callback(const nav_msgs::Odometry::ConstPtr &data)
{
    ROS_INFO("x: %f", data->pose.pose.position.x);
}

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "sub");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("data", 1, Callback);
    ros::spin();

    return 0;
}

publisher.cpp

#include "ros/ros.h"
#include "nav_msgs/Odometry.h"
int main(int argc, char *argv[])
{
    ros::init(argc, argv, "pub");
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<nav_msgs::Odometry>("data", 1);
    nav_msgs::Odometry data;
    data.pose.pose.position.x = 0;
    data.pose.pose.position.y = 0;
    data.pose.pose.position.z = 0;
    data.twist.twist.linear.x = 0;
    data.twist.twist.linear.y = 0;
    data.twist.twist.linear.z = 0;
    ros::Rate rate(100);
    while (ros::ok())
    {
        pub.publish(data);
        data.pose.pose.position.x += 1.0;
        rate.sleep();
        ros::spinOnce();
    }

    return 0;
}

After i run the code, the info output by the callback like this. The difference between the data before and after 1 second is 100, which is correct, but the changes in the data are not continuous, about two-thirds of the data is lost, after I change the published and subscribed data to a simple int type, the info output by the callback was not lost. Could someone tell me why.

[ INFO] [1691025304.970631250]: x: 534.000000
[ INFO] [1691025305.014777988]: x: 538.000000
[ INFO] [1691025305.019294864]: x: 539.000000
[ INFO] [1691025305.029349545]: x: 540.000000
[ INFO] [1691025305.070614103]: x: 544.000000
[ INFO] [1691025305.114707116]: x: 548.000000
[ INFO] [1691025305.158679485]: x: 552.000000
[ INFO] [1691025305.202648991]: x: 557.000000
[ INFO] [1691025305.246669446]: x: 561.000000
[ INFO] [1691025305.249411401]: x: 562.000000
[ INFO] [1691025305.259341235]: x: 563.000000
[ INFO] [1691025305.302654749]: x: 567.000000
[ INFO] [1691025305.346705878]: x: 571.000000
[ INFO] [1691025305.390708431]: x: 576.000000
[ INFO] [1691025305.434621099]: x: 580.000000
[ INFO] [1691025305.439409861]: x: 581.000000
[ INFO] [1691025305.449302088]: x: 582.000000
[ INFO] [1691025305.490661031]: x: 586.000000
[ INFO] [1691025305.534639046]: x: 590.000000
[ INFO] [1691025305.582676911]: x: 595.000000
[ INFO] [1691025305.626683167]: x: 599.000000
[ INFO] [1691025305.629425701]: x: 600.000000
[ INFO] [1691025305.639365812]: x: 601.000000
[ INFO] [1691025305.682694151]: x: 605.000000
[ INFO] [1691025305.726678524]: x: 609.000000
[ INFO] [1691025305.770639589]: x: 613.000000
[ INFO] [1691025305.770734517]: x: 614.000000
[ INFO] [1691025305.814676002]: x: 617.000000
[ INFO] [1691025305.814776174]: x: 618.000000
[ INFO] [1691025305.819332395]: x: 619.000000
[ INFO] [1691025305.829267456]: x: 620.000000
[ INFO] [1691025305.870585413]: x: 623.000000
[ INFO] [1691025305.870677599]: x: 624.000000
[ INFO] [1691025305.914597913]: x: 628.000000
[ INFO] [1691025305.958604223]: x: 631.000000
[ INFO] [1691025305.958706574]: x: 632.000000