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`rostopic hz

~~`rostopic hz~~ rostopic hz will print not just the message frequency, but also the minimum, maximum and std deviation of the time between messages. Do those numbers match your callback rate?

Is V-REP publishing the ROS clock? Do you have the use_sim_time parameter set so that your node uses simulation time instead of actual time?

Is your callback called at an average rate of 20Hz, or is it consistently faster? I'll bump your karma so that you can post your plot.

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