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Interbotix / interbotix_ros_toolboxes

Support-level ROS Packages for Interbotix Robots
BSD 3-Clause "New" or "Revised" License
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[Question]: What is frequency of `robot_get_joint_states` receiving the latest joint state? #49

Open GuoPingPan opened 1 year ago

GuoPingPan commented 1 year ago

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

lukeschmitt-tr commented 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.

GuoPingPan commented 1 year ago

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] ?