gazebo_ros_controller_manager update rate [closed]

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Hello All,

This is not a question but an explanation I wanted to make based on painful experience while trying to set the joint state publish rate. When using gazebo_ros_controller_manager plugin, there is this abundant example that you're supposed to include in your robot description:

<controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>1000.0</updateRate>
  <robotParam>robot_description</robotParam>
  <robotNamespace>/</robotNamespace>
</controller:gazebo_ros_controller_manager>

According to gazebo_ros_controller_manager source located in the pr2_gazebo_plugins stack, updateRate and alwaysOn do nothing and can be removed. There is this little explanation which I ran into by chance at pr2_controller_manager's wiki page:

The controller manager publishes the state of all joints over ROS, as sensor_msgs/JointState messages. These messages appear on the joint_state topic, at 100 Hz. You can change this publishing frequency by setting the joint_state_publish_rate parameter.

Therefore you must add

<param name="pr2_controller_manager/joint_state_publish_rate" value="250.0" />

to your launch file, or declare the parameter manually, for publishing joint states at 250Hz.