Increasing IMU frequency in turtlebot3

[TakShimoda]

Hello,

I'm working with a turtlebot3 burger on ROS2 foxy, and I'm trying to increase the IMU frequency. Right now, when I run the basic bringup script and type ros2 topic hz /imu I get 20Hz, but I want to increase it to > 100Hz.

I tried looking for issues/solutions on both this github page and on the turtlebot3 github and didn't find any queries relevant to my issue. I found a post here where the answer digs into the source code, but it seems to already initialize IMU at 200Hz.

I wanted to know if it's possible to increase the frequency that I get on the topic /imu when I run on ros2.

Thank you.

[Rob-Dawson]

I realise this is late but for anyone else who encounters this problem, the PI limits the publishing rate. If you go to
~/turtlebot3_ws/src/turtlebot3/turtlebot3_node/src/turtlebot2.cpp
Scroll down to

void TurtleBot3::run()
{
  RCLCPP_INFO(this->get_logger(), "Run!");

  publish_timer(std::chrono::milliseconds(50)); 
  heartbeat_timer(std::chrono::milliseconds(100));

  parameter_event_callback();
  cmd_vel_callback();
}

Change the publish timer and colcon build. Remember this is in ms, not hz so 5ms is 200hz

If i then ros2 topic hz /imu, I can confirm the change

average rate: 200.939
	min: 0.000s max: 0.017s std dev: 0.00184s window: 203