# gazebo_ros_controller_manager update rate [closed]

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.

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