disclaimer: all these tests are run on my local computer.

PawnSimApi.updateKinematics is being called at 140 hz with no ros bridge connected. With ros bridge connected it is a lot more unstable, jumping between 40 and 140 hz. Primary suspect at this moment: cameras

Yes, when no camera's configured the tickrate stays nicely at 140hz. freaking cameras #43

No cameras: 149
Current cameras (with noise): 90
Camera noise disabled: 90

noise is not the problem

Tickreate is not as steady as it seemd. In 300 ticks (without cameras) the smallest delay between ticks was 1/259 second and the largest delay was 1/90 second. That is a pretty big delay.

With a static framerate of 30 fps and the following subtick settings we get a tickrate of 100hz

Time between ticks: 0.033333 second
Time between subticks: 0.008333 second

As you can see in these pr's, ive been trying to get this to work. At this moment the carstate is updated 100hz , but somehow the odometry still only provides new data 37 hz. I have to leave this be for now because other thing are more important. :/