# How to increase frequency of IMU and Joint State in simulation

**URL:** <https://forums.developer.nvidia.com/t/how-to-increase-frequency-of-imu-and-joint-state-in-simulation/345941>\
**Category:** Isaac Sim\
**Tags:** isaac-sim-v4-5-0, isaacsim\
**Created:** [September 24, 2025, 1:15pm UTC](https://forums.developer.nvidia.com/t/how-to-increase-frequency-of-imu-and-joint-state-in-simulation/345941 "2025-09-24T13:15:25Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![NTA.VN](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@NTA.VN](https://forums.developer.nvidia.com/u/NTA.VN)\
**Post date:** [September 24, 2025, 1:15pm UTC](https://forums.developer.nvidia.com/t/how-to-increase-frequency-of-imu-and-joint-state-in-simulation/345941/1 "2025-09-24T13:15:25Z")

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Now I want to simulate MPC algorithm for humanoid robot. I am using ROS2 with Isaac Sim. But I think the frequency of IMU and Joint State need to be at least 500Hz. So can you tell me how to speed up the publish rate of IMU and Joint State?  
I followed this **[tutorial](https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_publish_rate.html#checking-ros-2-publish-rate)** but when I set ‘publish rate’ to 200, IMU publish rate is 100 (FPS is 80) =\> robot falls slowly

### Isaac Sim Version

4.5.0  
Operating System

Ubuntu 22.04

### GPU Information

- Model: RTX 4060

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**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [September 25, 2025, 10:49am UTC](https://forums.developer.nvidia.com/t/how-to-increase-frequency-of-imu-and-joint-state-in-simulation/345941/2 "2025-09-25T10:49:02Z")

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@NTA.VN i am just another user, and this is another thread that may or may not be relevant:

> [@Isaac Sim increase rate of /imu topic ROS2](https://forums.developer.nvidia.com/t/isaac-sim-increase-rate-of-imu-topic-ros2/339097/13):
>
> Yes. When you are constraint on computation power but you want to achieve high frequency data, your simulation would be slower than real time. On the ROS2 side, please also make sure use\_sim\_time is true to align with Isaac Sim.

i would also be interested to know if 5.0 affects anything on your end. below is also a troubleshooting tip from 5.0 official doc that might be worth a try:

> **[ROS 2 Publish Rate Issues - ROS 2 Troubleshooting — Isaac Sim Documentation](https://docs.isaacsim.omniverse.nvidia.com/5.0.0/ros2_tutorials/troubleshooting.html#ros-2-publish-rate-issues)**
>
> This page consolidates troubleshooting information for ROS 2 components in Isaac Sim.

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<div class="post-metadata">

**Author:** ![NTA.VN](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@NTA.VN](https://forums.developer.nvidia.com/u/NTA.VN)\
**Post date:** [September 29, 2025, 4:05am UTC](https://forums.developer.nvidia.com/t/how-to-increase-frequency-of-imu-and-joint-state-in-simulation/345941/3 "2025-09-29T04:05:19Z")

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thank you so much, let me try.

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**Author:** ![VickNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vicknv/32/14043_2.png) [@VickNV](https://forums.developer.nvidia.com/u/VickNV)\
**Post date:** [June 12, 2026, 12:26am UTC](https://forums.developer.nvidia.com/t/how-to-increase-frequency-of-imu-and-joint-state-in-simulation/345941/4 "2026-06-12T00:26:23Z")

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Closed on June 12, 2026, 12:26am UTC