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After a suggestion of tfoote, I found out that the bias was caused by simulation time. (I did not know there was such a thing). The added picture is a part of the gazebo simulator that I ran today. For a reason that I don't know, there is a real time factor of 0.97 and not 1.00. This explains the 97Hz.

image description

My conclusion is that the Rostopic Hz function prints every REAL second the amount of messages observed, but when calculating the average rate it compensates for the Real Time FActor, so the outcome is 100 Hz.

Thank you for your help tfoote.

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