When joint_state_controller/publish_rate is greater than control_rate, the value of jointstates takes the shape of a staircase

[nyxrobotics]

Abstract

Since the sensor value is updated at the control_rate cycle, if joint_state_controller is set to a cycle earlier than the control_rate, the sensor value is published without being updated.
The parameter velocity_duty_control_sample.launch is inappropriate.
The control_rate should be executed at a faster cycle than the controller. If the setting value is incorrect, a warning should be displayed.

joint_state_contrcontrol_rateoller/publish_rate 100
control_rate 50

joint_state_contrcontrol_rateoller/publish_rate 50
control_rate 50

Purpose

Implementation Details