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I found a similar question in this thread. You may be able to use the rostopic and ROSTopicHz classes to get access to the publishing / subscription rates. But I agree with the answer in the linked htread that since this is an internal library, maybe the API can get changed, which would break your code. Anyway, let us know how it goes!

I found a similar question in this thread. You may be able to use the rostopic and ROSTopicHz classes to get access to the publishing / subscription rates. But I agree with the answer in the linked htread thread that since this is an internal library, maybe the API can get changed, which would break your code. Anyway, let us know how it goes!