Change odometry publication frequence in TrackedVehicle plugin

[iandresolares]

Environment

• OS Version: Ubuntu 22.04
• Binary build: v8.6.0 (Gazebo Sim Harmonic)

Description

I am using TrackedVehicle and TrackController plugins to simulate a tracked robot. I have created my own sdf from the example tracked_vehicle_simple.sdf and everything works fine, however I need to change the odometry publication frequency from the default 50Hz to 10 Hz. In the linked documentation there is an attribute to change this "odometry_publish_frequency", however it is not working:

 <plugin name="gz::sim::systems::TrackedVehicle" filename="gz-sim-tracked-vehicle-system">
        <left_track><link>left_track</link></left_track>
        <right_track><link>right_track</link></right_track>
        <tracks_separation>1.3</tracks_separation>
        <tracks_height>0.5</tracks_height>
        <steering_efficiency>0.5</steering_efficiency>
        <odometry_publish_frequency>10</odometry_publish_frequency>
    </plugin>
    
    <plugin name='gz::sim::systems::TrackController' filename='gz-sim-track-controller-system'>
        <link>left_track</link>
        <odometry_publish_frequency>10</odometry_publish_frequency>
    </plugin>
    <plugin name='gz::sim::systems::TrackController' filename='gz-sim-track-controller-system'>
        <link>right_track</link>
        <odometry_publish_frequency>10</odometry_publish_frequency>
    </plugin>

• Expected behavior: publication frequency change.
• Actual behavior: Frequency does not change.

[iandresolares]

This was an error on my side, the correct syntax is:

 <plugin name="gz::sim::systems::TrackedVehicle" filename="gz-sim-tracked-vehicle-system">
        <left_track><link>left_track</link></left_track>
        <right_track><link>right_track</link></right_track>
        <tracks_separation>1.3</tracks_separation>
        <tracks_height>0.5</tracks_height>
        <steering_efficiency>0.5</steering_efficiency>
        <odom_publish_frequency>10</odom_publish_frequency>
    </plugin>