How to change the publication rate of /joint_states topic ? #655
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I'm working on UR10 Robot, I'm subscribing to /joint_stets topic to get the sensor data (position, velocity), I'm trying to increase the publication rate (default is 125 Hz) of the topic in order to smooth the resulted position and velocity curves. please, can you tell me, how can I do it? |
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If this is a real robot: you can't.
There would be nothing to publish at a faster rate. (e-Series controllers run at 500 Hz, so buying a new UR could be a work-around) |
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Yes, I'm working on a real one, so, it seems that it is impossible |
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If this is a real robot: you can't.
JointStatemessages are published at the rate the UR control box provides them (ie: sends out robot state).There would be nothing to publish at a faster rate.
(e-Series controllers run at 500 Hz, so buying a new UR could be a work-around)