How to publish sensor msgs and clock messages at a rate higher than 10Hz?

[aditi741997]

Hello

I am using stage_ros along with navigation2d for p3at. [http://wiki.ros.org/nav2d/Tutorials ] It works fine with the default world parameters of running stage at 10Hz. I want to publish sensor and clock messages faster than the default of 10Hz (i.e. interval_sim = interval_real = 100ms), I see that the data is published once every worldCallback, which is called with period interval_sim.

When I try to reduce interval_Real or interval_sim, the stage_ros+nav2d simulation stops working - the nav2d module is sometimes not able to find the robot on the map.

I tried adding speedup=2 in the world file, causing the smulation to run at twice the rate, but the sensor&clock is still published at 10Hz (since interval_sim = 100ms).

It'd be great if you could help figure out how to publish sensor,clock data faster, with or without running simulation faster than real time.

[jara001]

For anyone interested; just use, e.g., interval_sim 50 inside the world file. In sets the period for both sensors and sim clock.