How to change refresh rate of streams?

[xkaraman]

Following documentation i successfully enabled realsense d435 on my robot. I want to check for refresh rates so i changed the following lines in _d435.gazebo.xacro.

Firstly, it says that refresh rate should be 60.0 (HZ) as denoted here

<depthUpdateRate>60.0</depthUpdateRate>

Both Gazebo Topics review and rostopic hz /camera/color/image_raw report at around 20 HZ. I don't think this is expected behavior.

Secondly,I tried to change them from

<depthUpdateRate>60.0</depthUpdateRate>
<colorUpdateRate>60.0</colorUpdateRate>
<infraredUpdateRate>60.0</infraredUpdateRate>

to

<depthUpdateRate>10.0</depthUpdateRate>
<colorUpdateRate>10.0</colorUpdateRate>
<infraredUpdateRate>10.0</infraredUpdateRate>

but nothing happend. Refresh rate remained at 20 HZ as before.

Is this a bug? How can i change the refresh rate? Or did i completely misunderstood the updateRate and publish rate?