Hi!
Here I provide a patch that could be useful for some stageros users.
Stageros usually publishes information through some topics, among them: odom, scan and base_ground_truth. However these topics publish information in each simulation step. While it seems a right behavior for the base_ground_truth information, the odom and scan topics should (IMHO) publish information at the rate specified with the update_interval stage-parameter in the stage-world-config file. In this way sensor rate are well interfaced to the rest of the world nodes.
The patch have been applied over the current head file --- src/stageros.cpp (revision 39760).
Regards.