ROS Rate specification for topics

[sskulka]

I need to broadcast the /novatel/oem7/odom at 100 Hz. I see that the current topic is broadcasted at 50 Hz. Is there a place where I could specify the ros rate of the publishers?

[novatel-applications-engineering]

Hi @sskulka
Thank you for reaching out to us.

The /novatel/oem7/odom ROS topic rate depends on the INSPVASB rate. You need to change the existing log request "LOG INSPVASB ONTIME 0.02" to "LOG INSPVASB ONTIME 0.01" in std_init_commands.yaml file. This will in return change the /novatel/oem7/odom ROS topic rate to 100 Hz.

You can find std_init_commands.yaml located in: /opt/ros/${ROS_DISTRO}/share/novatel_oem7_driver/config/

For more information, please refer to:

https://wiki.ros.org/novatel_oem7_driver/configuration