diff --git a/omnidrive_rppico/hardware/omnibot_pico_system.cpp b/omnidrive_rppico/hardware/omnibot_pico_system.cpp
index 9de356f..4c48e47 100644
--- a/omnidrive_rppico/hardware/omnibot_pico_system.cpp
+++ b/omnidrive_rppico/hardware/omnibot_pico_system.cpp
@@ -249,10 +249,10 @@ hardware_interface::return_type omnidrive_rppico ::OmniDriveRpPicoHardware::writ
     return hardware_interface::return_type::ERROR;
   }
 
-  int motor_f_counts_per_loop = wheel_f_.cmd / wheel_f_.rads_per_count / cfg_.loop_rate;
-  int motor_l_counts_per_loop = wheel_l_.cmd / wheel_l_.rads_per_count / cfg_.loop_rate;
-  int motor_b_counts_per_loop = wheel_b_.cmd / wheel_b_.rads_per_count / cfg_.loop_rate;
-  int motor_r_counts_per_loop = wheel_r_.cmd / wheel_r_.rads_per_count / cfg_.loop_rate;
+  int motor_f_counts_per_loop = wheel_f_.cmd / wheel_f_.rads_per_count;
+  int motor_l_counts_per_loop = wheel_l_.cmd / wheel_l_.rads_per_count;
+  int motor_b_counts_per_loop = wheel_b_.cmd / wheel_b_.rads_per_count;
+  int motor_r_counts_per_loop = wheel_r_.cmd / wheel_r_.rads_per_count;
   
 
 
diff --git a/src/ezbot_robot/config/omnidirectional_controller.yaml b/src/ezbot_robot/config/omnidirectional_controller.yaml
index 7880db6..5d9fa81 100644
--- a/src/ezbot_robot/config/omnidirectional_controller.yaml
+++ b/src/ezbot_robot/config/omnidirectional_controller.yaml
@@ -20,7 +20,7 @@ omnidirectional_controller:
     robot_radius: 0.15
     wheel_radius: 0.03
 
-    publish_rate: 50.0
+    publish_rate: 30.0
     odom_frame_id: odom
     base_frame_id: base_link
     pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]