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ros-industrial / staubli_val3_driver

ROS-Industrial (simple message) driver for Stäubli CS8 and CS9 robot controllers (VAL 3 application)
Apache License 2.0
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Transforms or joint_state only published at 50hz #43

Closed benthebear93 closed 3 years ago

benthebear93 commented 3 years ago

Hi

I was trying to use tf data but it seems only publised at 50hz and i don't see any parameter that i can modify for increase pub rate. Is it limited by socket communication or something else? is there any thing i can do to increase publish rate?

Thanks

gavanderhoorn commented 3 years ago

This is configured here:

https://github.com/ros-industrial/staubli_val3_driver/blob/7913f147663f6d54279cfb77cf90ecfb32454313/staubli_val3_driver/val3/ros_server/start.pgx#L59-L63