joint states frame rate

[FabianEP11]

Hi,
Is there a way to increase the publishing rate of the /joint_states topic. Currently the node is publishing at about 7 Hz
I tried increasing the loop_frequency and robot_state parameters on the spot_ros.yaml with no luck.

Any recommendations?

[heuristicus]

These are the only methods which can currently be used to increase the publishing rate. From memory I think I am getting 50-70Hz on the topic, but this is with a loop_frequency of 500, and robot_state of 300. I haven't had time to dig into why such high rates are required to get high frequency on the robot state topics.