How can I adjust ROS topic publish hz?

Omniverse Isaac Sim
1

Hi. I want to fix the publish rate of my pointcloud2 topics.
Currently, my omnigraph publishes the topic with 60 Hz, which is identical to rendering_dt.

A simple way must be reducing render_dt, but I’m not sure this is the most elegant way.
and I found some docs about OnImpulseEvent, I wondered if this is the only available method to adjust hz in the omnigraph?

Thanks!

   def set_pcd_graph(self):
        og.Controller.edit(
            {"graph_path": "/Depth_pcl", "evaluator_name": "execution"},
            {
                og.Controller.Keys.CREATE_NODES: [
                    ("OnPlaybackTick", "omni.graph.action.OnPlaybackTick"),
                    ("IsaacCreateViewport", "omni.isaac.core_nodes.IsaacCreateViewport"),
                    ("IsaacGetViewportRenderProduct", "omni.isaac.core_nodes.IsaacGetViewportRenderProduct"),
                    ("IsaacSetCamera", "omni.isaac.core_nodes.IsaacSetCameraOnRenderProduct"),
                    ("ROS1CameraHelper", "omni.isaac.ros_bridge.ROS1CameraHelper"),
                    ("ROS1PublishTransformTree", "omni.isaac.ros_bridge.ROS1PublishTransformTree"),
                    ("ROS1ReadSimulationTime", "omni.isaac.core_nodes.IsaacReadSimulationTime"),
                    ("ROS1PublishJointState", "omni.isaac.ros_bridge.ROS1PublishJointState"),
                    ("PublishClock", "omni.isaac.ros_bridge.ROS1PublishClock"),
                    ("ReadSimTime", "omni.isaac.core_nodes.IsaacReadSimulationTime"),
                ],
                og.Controller.Keys.CONNECT: [
                    ("OnPlaybackTick.outputs:tick", "IsaacCreateViewport.inputs:execIn"),
                    ("IsaacCreateViewport.outputs:execOut", "IsaacGetViewportRenderProduct.inputs:execIn"),
                    ("IsaacCreateViewport.outputs:viewport", "IsaacGetViewportRenderProduct.inputs:viewport"),
                    ("IsaacGetViewportRenderProduct.outputs:execOut", "IsaacSetCamera.inputs:execIn"),
                    ("IsaacGetViewportRenderProduct.outputs:renderProductPath", "IsaacSetCamera.inputs:renderProductPath"),
                    ("IsaacSetCamera.outputs:execOut", "ROS1CameraHelper.inputs:execIn"),
                    ("IsaacGetViewportRenderProduct.outputs:renderProductPath", "ROS1CameraHelper.inputs:renderProductPath"),
                    ("OnPlaybackTick.outputs:tick", "ROS1PublishTransformTree.inputs:execIn"),
                    ("ROS1ReadSimulationTime.outputs:simulationTime", "ROS1PublishTransformTree.inputs:timeStamp"),
                    ("OnPlaybackTick.outputs:tick", "ROS1PublishJointState.inputs:execIn"),
                    ("ROS1ReadSimulationTime.outputs:simulationTime", "ROS1PublishJointState.inputs:timeStamp"),
                    ("ReadSimTime.outputs:simulationTime", "PublishClock.inputs:timeStamp"),
                    ("OnPlaybackTick.outputs:tick", "PublishClock.inputs:execIn"),
                ],  
                og.Controller.Keys.SET_VALUES: [
                    ("IsaacCreateViewport.inputs:name", "New Viewport"),
                    ("ROS1CameraHelper.inputs:enableSemanticLabels", False),
                    ("ROS1CameraHelper.inputs:frameId", "Camera"),
                    ("ROS1CameraHelper.inputs:type", "depth_pcl"),
                    ("ROS1CameraHelper.inputs:topicName", "Isaac/Depth_pcl"),
                    ("PublishClock.inputs:topicName", "/clock"),
                ],
            },
        )
        
        set_target_prims(primPath="/Depth_pcl/IsaacSetCamera", inputName="inputs:cameraPrim", targetPrimPaths=["/World/Camera"])
        set_target_prims(primPath="/Depth_pcl/ROS1PublishTransformTree", inputName="inputs:targetPrims", 
                        targetPrimPaths=["/World/Camera", "/World/Robot", "/World/Table", "/World/Object"])
        set_target_prims(primPath="/Depth_pcl/ROS1PublishJointState", inputName="inputs:targetPrim", targetPrimPaths=["/World/Robot"])