A200 odometry publishes at ~28 Hz despite publish_rate: 50

[PetropoulakisPanagiotis]

A200 odometry publishes at ~28 Hz despite publish_rate: 50

Environment

• OS: Ubuntu 22.04
• ROS 2: Humble
• Platform: real Clearpath A200
• Built from source
• Namespace: /a200_1044

Expected

Controller manager and diff-drive controller are configured as:

controller_manager:
  ros__parameters:
    update_rate: 150

platform_velocity_controller:
  ros__parameters:
    publish_rate: 50.0

I would expect /platform/odom to publish close to 50 Hz if the hardware/control loop can sustain it.

Actual

ros2 param get /a200_1044/controller_manager update_rate

Integer value is: 150

ros2 topic hz /a200_1044/platform/odom

average rate: ~27.9 Hz
min: ~0.032 s
max: ~0.058 s

ros2 topic hz /a200_1044/platform/dynamic_joint_states

average rate: ~28.2 Hz

ros2 topic hz /a200_1044/platform/joint_states

average rate: ~48 Hz

So approximately:

controller_manager update_rate : 150 Hz
diff_drive publish_rate        :  50 Hz
joint_states                   : ~48 Hz
dynamic_joint_states           : ~28 Hz
platform/odom                  : ~28 Hz

Questions

1. Is ~28–30 Hz an expected feedback/odometry rate for a real A200 on ROS 2 Humble?
2. If not, why does /platform/odom not reach the configured 50 Hz?

Notes: The same system is also processing an Ouster LiDAR and camera streams, and overall CPU/headroom appears sufficient, so I do not currently suspect a general processing-power limitation.

[tonybaltovski]

@PetropoulakisPanagiotis Can you try this branch to see if it gets you close to 50Hz?

[PetropoulakisPanagiotis]

I’ll have a look either next week or in October due to vacations. Thank you for the quick response!