# Revision history [back]

I'm not sure to understand your question, but it depends on what you are doing. If you have to synchronize the message exchange, it would be wise to choose the rate accordingly.

In general it is normal to have different loop rates on different nodes. For example if you have a mobile robot with a depth sensor, you will probably have that the state of the robot (tf) is published at something like 100Hz, while the sensor message will be published at something like 30Hz.

Can you explain better your problem?

I'm not sure to understand your question, but it depends on what you are doing. If you have to synchronize the message exchange, it would be wise to choose the rate accordingly.

In general it is normal to have different loop rates on different nodes. For example if you have a mobile robot with a depth sensor, you will probably have that the state of the robot (tf) is published at something like 100Hz, while the sensor message will be published at something like 30Hz.

Can you explain better your problem?

EDIT: Ok, I think I'm still missing something, but if I get it right you are using a loop rate of 1Hz for the trajectory node and the node that publishes to the robot...

My advice is to up them to 10Hz, especially the loop rate of the node publishing commands to the robot. You should choose it depending on how you are communicating with the robot. If is for example a robotic arm, and it publishes joint positions at 10Hz, it is probable that you have to give commands to it at a similar rate, but it depends on the robot.

For the trajectory node I don't know how it works, but I suppose it must communicate with other nodes at a similar rate...

I'm not sure to understand your question, but it depends on what you are doing. If you have to synchronize the message exchange, it would be wise to choose the rate accordingly.

In general it is normal to have different loop rates on different nodes. For example if you have a mobile robot with a depth sensor, you will probably have that the state of the robot (tf) is published at something like 100Hz, while the sensor message will be published at something like 30Hz.

Can you explain better your problem?

EDIT: EDIT:

Ok, I think I'm still missing something, but if I get it right you are using a loop rate of 1Hz for the trajectory node and the node that publishes to the robot...

My advice is to up them to 10Hz, especially the loop rate of the node publishing commands to the robot. You should choose it depending on how you are communicating with the robot. If is for example a robotic arm, and it publishes joint positions at 10Hz, it is probable that you have to give commands to it at a similar rate, but it depends on the robot.

For the trajectory node I don't know how it works, but I suppose it must communicate with other nodes at a similar rate...

I'm not sure to understand your question, but it depends on what you are doing. If you have to synchronize the message exchange, it would be wise to choose the rate accordingly.

In general it is normal to have different loop rates on different nodes. For example if you have a mobile robot with a depth sensor, you will probably have that the state of the robot (tf) is published at something like 100Hz, while the sensor message will be published at something like 30Hz.

Can you explain better your problem?

EDIT:

Ok, I think I'm still missing something, but if I get it right you are using a loop rate of 1Hz for the trajectory node and the node that publishes to the robot...

My advice is to up them to 10Hz, especially the loop rate of the node publishing commands to the robot. You should choose it depending on how you are communicating with the robot. If is for example a robotic arm, and it publishes joint positions at 10Hz, it is probable that you have to give commands to it at a similar rate, but it depends on the robot.

For the trajectory node I don't know how it works, but I suppose it must communicate with other nodes at a similar rate...