I am working on using the odometry information obtained from p2osdriver in a localization system as part of my motion model. From what I have tested, p2osdriver publishes an odometry message roughly every 100ms. What I would like to know is:

1. Is it possible to have more frequent updates?
2. Is it reasonable to assume that during those 100ms the velocity remained constant in the value provided by the odometry messages?
3. Does anyone know how often the pose in the odometry messages is updated in firmware?