Hello everyone,

Is it possible with ros2control to have two chained controllers with different update rates for example let's say we have : controllerA->controller_B->robot

Can controller B run at 1000Hz and controller A at 100Hz ?

When I say update rate I'm talking about the rate at which update() is called for both controllers.

To clarify my situation my controller A is doing some calculations that take time, but I need the refresh rate of the robot joint commands to be at least 1kHz (contrller B)

Thank you, have a nice day !