search

heuristicus / spot_ros

ROS driver for controlling Boston Dynamics' Spot robot
https://heuristicus.github.io/spot_ros/
Other
268 stars 136 forks source link

joint states frame rate #137

Open FabianEP11 opened 1 year ago

FabianEP11 commented 1 year ago

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 commented 1 year ago

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.