It looks like the odometry frequency is equal to the render rate of Isaac Sim (the default value is 60 Hz). But I want the odometry topic to have a high frequency output, such as 200 Hz. There is a way that I can set the render rate to 200 Hz, which results in a heavy computation load. Is there any other method to achieve this?
Hi @nusssun! This is the tutorial to change simulation frame rate. And yes it will increase computation load.
May I know why you need the odometry topic to run at 200 Hz? What’s your use case?
One possible solution I can think of is to do extrapolation in the downstream.
Thanks for your reply! In some cases, such as autonomous driving or manipulation, we need a high frequency pose estimation to achieve a smooth control. The default 60 Hz frequency is too slow for the robot to follow the planned trajectory. As for the extrapolation method you mentioned, I will have a try. However, is there any other more direct solution to get a 200 Hz frequency? Just like setting the camera image topic frequency here.
It is actually the same with publishing ROS camera images. The frame rate needs to be at least equal to or faster than ROS camera image publish frequency.