The frequency of the ros topic about the vehicle status sent by carla is too low

[cq1528]

In the launch file of carla_ros_bridge, I set the fixed_delta_seconds to 0.05. However, after actually starting carla and carla_ros_bridge, I found that the vehicle status topic /carla/ego_vehicle/vehicle_status is only 3hz, which is much lower than the 20hz I set in the launch file. What is the reason for this?

[zhangye1111]

我在carla_ros_bridge的launch文件中，设置了fixed_delta_seconds为0.05，但是实际启动carla和carla_ros_bridge之后，发现车辆状态主题/carla/ego_vehicle/vehicle_status只有3hz，比我在launch文件中设置的20hz要低很多，这是什么原因造成的？

I have the same problem, do you know how to fix it?

[oliver-schumann]

I don't know how to do this in ros1 but in ros2 you should check the following:

ros2 topic hz with --use-sim-time

The frequency you want to verify is in the time of the simulator. However, ros2 topic hz uses per default the system time to calculate the frequency. Hence the values differ, because the simulator might run slower than the system time