[bug] franka state controller publish rate works incorrectly

[suitendaal]

I was trying to record the franka state at a large frequency (>200Hz) and I found out the /franka_state_controller/publish_rate parameter works incorrectly.
I used a value of 500 Hz, but when I used the command rostopic hz /franka_state_controller/franka_states, it gave me an average rate of around 380 Hz, so I thought this was the max for my system.
However, today I tried larger frequencies.
1000 Hz gave me actually 650 Hz and 1500 Hz gave me actually 975 Hz, so the system can handle higher frequencies.
The problem is that the desired frequency is not the same as the actual frequency.

[suitendaal]

This problem does not occur in the joint_state_publisher