The output rate of the rostopics published by the Vision-RTK2 ROS driver is accurate. However, when looking at the recordings or plotting the received messages, the user might observe the following behavior:
As observed in the figure, the rate of the output messages is not constant when looking at the time of arrival. However, this is the expected behavior of the sensor, as:
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We are not a real-time system.
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All the communications are not guaranteed to be real-time: ROS→TCP→Customer ROS→Bag recording. There are too many steps to then look at the time of arrival of the ROS messages.
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The user should rely on the timestamp inside the message, and not on the time of arrival.