Add param 'main_loop_rate' for allowing higher publish rates

fake_joint_driver/README.md

@@ -48,6 +48,12 @@ sliders to set the joint trajectory goals.
 
 # Parameters
 
+- `main_loop_rate`
+
+  The internal loop rate at which the robot controls are updated.
+  This rate is a hard limit for joint state publishers. The default
+  value is set to 100 Hz.
+
 - `use_robot_description`
 
   When it is true, the driver read the parameter `/robot_description`

fake_joint_driver/src/fake_joint_driver_node.cpp

@@ -24,15 +24,18 @@ int main(int argc, char **argv)
   // Connect to controller manager
   controller_manager::ControllerManager cm(&robot, nh);
 
-  // Set spin ratge
-  ros::Rate rate(1.0 / ros::Duration(0.010).toSec());
+  // Set loop rate
+  ros::NodeHandle pnh("~");
+  int loop_rate;
+  pnh.param<int>("main_loop_rate", loop_rate, 100);
+  ros::Rate rate(loop_rate);
   ros::AsyncSpinner spinner(1);
   spinner.start();
 
   while (ros::ok())
   {
     robot.update();
-    cm.update(ros::Time::now(), ros::Duration(0.010));
+    cm.update(ros::Time::now(), rate.expectedCycleTime());
     rate.sleep();
   }
   spinner.stop();