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joint states frame rate #137

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FabianEP11 opened this issue Jun 23, 2023 · 1 comment
Open

joint states frame rate #137

FabianEP11 opened this issue Jun 23, 2023 · 1 comment

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@FabianEP11
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Hi,
Is there a way to increase the publishing rate of the /joint_states topic. Currently the node is publishing at about 7 Hz
I tried increasing the loop_frequency and robot_state parameters on the spot_ros.yaml with no luck.

Any recommendations?
@heuristicus
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These are the only methods which can currently be used to increase the publishing rate. From memory I think I am getting 50-70Hz on the topic, but this is with a loop_frequency of 500, and robot_state of 300. I haven't had time to dig into why such high rates are required to get high frequency on the robot state topics.

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@heuristicus @FabianEP11