how to change the topic publish frequency of imu or other sensor?

[lkx8421]

When I use webots to publish imu topic, the urdf infomation such as this

and in my code i set TIME_STEP = 5 use
WbFieldRef field = wb_supervisor_node_get_field(time_node, "basicTimeStep"); wb_supervisor_field_set_sf_float(field, TIME_STEP);
but the topic frequecy is always like


i dont know how to change it in 5ms to publish

[lukicdarkoo]

The publish rate also depends on the simulation speed. Webots tries to maintain RTF at 1.0 but it is not guaranteed as some simulation steps take longer to calculate.

In ROS, the standard approach is to use ROS clock (Webots already publishes it) in your nodes, see:
https://wiki.ros.org/Clock