message frequency

[saghavart]

Hi. I am unable to change IMU message frequency. I've tried to update frequency from config file, also I've updated the wall timer from src. But frequency is around 160 Hz and does not change

[slowrunner]

Did you try (this gets 10 Hz /imu topic):

  std::chrono::duration<int64_t, std::milli> frequency = 1000ms / 10;
  //    1000ms / this->get_parameter("gyro_range").as_int();

probably the better is to change to:

std::chrono::duration<int64_t, std::milli> frequency = 
      1000ms / this->get_parameter("frequency").as_int();

and be sure to change mpu9250.yaml to your desired /imu topic frequency:

...
frequency: 10 # [Hz]