Sensor Synchronisation and Frequency Setup


I am trying simulate sensor data (camera, IMU and lidar) in Isaac SIM to publish to ROS in a standalone workflow. Is there support to sync publication times, and also manually adjust the frequency? (Eg. I would like the IMU to publish at 400 Hz, and lidar at 10 Hz)


According to this, Isaac SIM should run in real time but with the standalone example

while True: 
        print('Sim {} Real {}'.format(delta world.current_time, delta time.time()))
        # Some synchronous code here

Isaac SIM Seems to override the system time to keep 60Hz physics stepping. Is there a overview document or explanation of how timing works in general?