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I found the parameters /pr2_controller_manager/mechanism_statistics_publish_rate and /pr2_controller_manager/joint_state_publish_rate, but I didn't find anything that allows me to change the update() method frequency of a controller.

There is any way to modify this or the update() frequency is necessary 1000Hz?


Originally posted by mbj on ROS Answers with karma: 197 on 2011-05-23

Post score: 2

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2 Answers 2

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The PR2 controllers are design and tuned to operate at 1KHz, changing the update rate of the controller will significantly impact the stability of the controllers on the PR2. It is not recommended to change the update rate, you do so at your own risk.


Originally posted by mmwise with karma: 8372 on 2011-06-17

This answer was ACCEPTED on the original site

Post score: 3

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in the pr2_ethercat package, look in main.cpp for:

period = 1e+6; // 1 ms in nanoseconds

but you shouldn't do this on a real PR2


Originally posted by Straszheim with karma: 426 on 2011-06-17

This answer was NOT ACCEPTED on the original site

Post score: 1

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