How to change publishing rate of a node to a topic? [closed]

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hello,here are the publishing rate on the following topics:--

/odom--->Caverage rate: 5.002   min: 0.193s max: 0.210s std dev: 0.00788s window: 39
/scan--->Caverage rate: 4.997   min: 0.193s max: 0.210s std dev: 0.00782s window: 39
/tf----->Caverage rate: 40.086  min: 0.000s max: 0.112s std dev: 0.04128s window: 250

How can i increase the publishing rate on /odom and /scan topics?

I have a P3AT robot in spawned in the simulated environment (USARSim).

////////////////////////////////////////////////Question Update 1///////////////////////////////////////

hi @gvdhoorn, i have an amcl node which subscribingis to /tf from rossim at a higher rate and also publishing the /tf, to others node, i am in a problem because both nodes rossim and amcl are doing both things publishing and subscribing together, now my concern is that i suppose i remapped it like <remap from="tf" to="tf_throttle"/> then it could also change publishing topic along with its subscribing topic, please take a look on this rqt_graph which is creating problem and confusion.

My rossim Node is publishing to /tf at the rate of 40hz, i want to rossim to publish at the rate of 5hz, i used throttle but it publishing at another topic /tf_throttle at the reduced rate, now if i remap the amcl to subscribe to /tf_throttle and because publishing to the /tf also then it might also change it publishing topic and other node like rviz and move_base won't be able to get /tf data from amcl. please take a look at my rqt_graph

Thanks a lot

////////////////////////////////////////////////Question Update 2///////////////////////////////////////

hi @gvdhoorn,

1. Here is the scenario, suppose i have a node n and two topics t1 and t2, n is a default publisher of t1 and also subscribes to this topic 't1'.

2. Now i want that node n should subscribe to the topic t2 instead of topic t1, but at the same time i also don't want n to change its publishing topic and it should retain its default publishing topic.

How can i do it because i suspect that remapping can change both topics (publishing and subscribing) for the node n?? please suggest.