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Your code looks reasonable; with the Rate object that you're using, it should be running at 10Hz.

Some virtual machines don't implement the high-precision timers correctly, and I think ROS uses the high-precision timers for rates and sleeps. As a first debugging step, it would be good to add a ROS_INFO message to each loop iteration, and print the ROS time, so that you can see if ROS is interpreting time correctly or not. Try something like

ROS_INFO_STREAM("Now: " << ros::Time::now());