Since the sensor value is updated at the control_rate cycle, if joint_state_controller is set to a cycle earlier than the control_rate, the sensor value is published without being updated.
The parameter velocity_duty_control_sample.launch is inappropriate.
The control_rate should be executed at a faster cycle than the controller. If the setting value is incorrect, a warning should be displayed.
Abstract
Since the sensor value is updated at the control_rate cycle, if joint_state_controller is set to a cycle earlier than the control_rate, the sensor value is published without being updated. The parameter velocity_duty_control_sample.launch is inappropriate. The control_rate should be executed at a faster cycle than the controller. If the setting value is incorrect, a warning should be displayed.
joint_state_contrcontrol_rateoller/publish_rate 100 control_rate 50
joint_state_contrcontrol_rateoller/publish_rate 50 control_rate 50
Purpose
Implementation Details