Open GuoPingPan opened 1 year ago
robot_get_joint_states
will return the last received joint states. You can control the joint state update rate of the xs_sdk with the update_rate
parameter of the xs_sdk's joint_state_publisher in whatever motor config file you're using.
I actually want to know the joint state update transport rate about the servo motor. For example, thought the update rate of ros message is 100hz, the reaction rate of motor joint state update only 50 hz. It will get same joint state msg in the ros msg.
So how fast can the widows250 motor joint state update [limited by hardware] ?
Question
I am trying to realize high frequency reaction control. So I wonder what is frequency of
robot_get_joint_states
to receive the latest joint state?Robot Model
wx250s
Operating System
Ubuntu 20.04
ROS Version
ROS 1 Noetic
Additional Info
No response