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Increasing the frequency at which the sensor state is published with Kobuki base

indigo

#1

Hi, I’m using a Turtlebot 2, Kobuki base. I replaced the cliff sensors in order to be able to detect the narrow darker spaces between floor tiles. It works at low speed but, at higher speeds, the transitions are not detected because the traveled distance between two sensor updates is too long.
Is there a way to increase the frequency of publication of the sensor state message?
Thanks for any input.
Regards.

         G. Garcia

#2

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