From 0380141a5c98ae5dd4a1fa81cf87885d10e404c8 Mon Sep 17 00:00:00 2001
From: Alexandre Vannobel <41082816+alexvannobel@users.noreply.github.com>
Date: Mon, 25 Nov 2019 13:13:54 -0500
Subject: [PATCH] Add joint states publish rate to joint state publisher (#58)

* Added a launch file and modified the documentation so it's easier to run the MoveIt Python example

* Added the parameter for joint state publish rate
---
 kortex_driver/launch/kortex_driver.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/kortex_driver/launch/kortex_driver.launch b/kortex_driver/launch/kortex_driver.launch
index 86236fb4..2bc20dc6 100644
--- a/kortex_driver/launch/kortex_driver.launch
+++ b/kortex_driver/launch/kortex_driver.launch
@@ -62,6 +62,7 @@
 
         <!-- Start joint and robot state publisher -->
         <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+            <param name="rate" value="$(arg cyclic_data_publish_rate)" />
             <rosparam param="source_list">[base_feedback/joint_state]</rosparam>
         </node>
         <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />