Query and loop rate

[OAkyildiz]

@Roboteq, I see that you recently went over the query.yaml file. The query file is letting the user specify three levels of querying. The high-freq example has a step of 50mz (20Hz). However, in roboteq_motor_controller_driver_node you can see loop_rate is hard-coded as 5Hz, limiting the max rate of queries. Could you make this a param or, at the very least, higher?

Also, the maximum rate I was able to get out of this was a very consistent 166Hz. Am I hitting hardware or a rostopic hz limitation? (I will try to make the loop lighter and see it changes but it's not at the top of my list right now and 166Hz is oddly specific IMHO)

Best

[xruiz-earthrover]

This should be addressed asap. It can be tricky to find out if you don't look into it