diff --git a/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml b/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml
index fdf375705..46c8a98dc 100644
--- a/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml
+++ b/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml
@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 10  # Hz
+    update_rate: 100  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
diff --git a/example_14/doc/userdoc.rst b/example_14/doc/userdoc.rst
index 91e7742cb..5e1c2b836 100644
--- a/example_14/doc/userdoc.rst
+++ b/example_14/doc/userdoc.rst
@@ -128,6 +128,10 @@ Tutorial steps
     [ros2_control_node-1] Writing command: 5.00
     [ros2_control_node-1] Sending data command: 5
     [ros2_control_node-1]
+    [ros2_control_node-1] [INFO] [1728858168.775863217] [controller_manager.resource_manager.hardware_component.sensor.RRBotModularPositionSensorJoint2]: Reading...
+    [ros2_control_node-1] Got measured velocity 5.00
+    [ros2_control_node-1] Got state 0.29 for joint 'joint2'
+    [ros2_control_node-1]
     [ros2_control_node-1] [INFO] [1728858168.776052116] [controller_manager.resource_manager.hardware_component.actuator.RRBotModularJoint2]: Writing...
     [ros2_control_node-1] Writing command: 5.00
     [ros2_control_node-1] Sending data command: 5
@@ -136,10 +140,6 @@ Tutorial steps
     [ros2_control_node-1] Got measured velocity 5.00
     [ros2_control_node-1] Got state 0.34 for joint 'joint1'
     [ros2_control_node-1]
-    [ros2_control_node-1] [INFO] [1728858169.775863217] [controller_manager.resource_manager.hardware_component.sensor.RRBotModularPositionSensorJoint2]: Reading...
-    [ros2_control_node-1] Got measured velocity 5.00
-    [ros2_control_node-1] Got state 0.29 for joint 'joint2'
-    [ros2_control_node-1]
 
 
 Files used for this demos
diff --git a/example_14/hardware/rrbot_actuator_without_feedback.cpp b/example_14/hardware/rrbot_actuator_without_feedback.cpp
index 4608e8a43..b3a2e722a 100644
--- a/example_14/hardware/rrbot_actuator_without_feedback.cpp
+++ b/example_14/hardware/rrbot_actuator_without_feedback.cpp
@@ -219,7 +219,7 @@ hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWitho
   std::ostringstream data;
   data << hw_joint_command_;
   ss << "Sending data command: " << data.str() << std::endl;
-  RCLCPP_INFO(get_logger(), ss.str().c_str());
+  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, ss.str().c_str());
 
   // Simulate sending commands to the hardware
   send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
diff --git a/example_14/hardware/rrbot_sensor_for_position_feedback.cpp b/example_14/hardware/rrbot_sensor_for_position_feedback.cpp
index 50a7393e2..5257cd950 100644
--- a/example_14/hardware/rrbot_sensor_for_position_feedback.cpp
+++ b/example_14/hardware/rrbot_sensor_for_position_feedback.cpp
@@ -266,7 +266,7 @@ hardware_interface::return_type RRBotSensorPositionFeedback::read(
   ss << "Got measured velocity " << measured_velocity << std::endl;
   ss << "Got state " << hw_joint_state_ << " for joint '" << info_.joints[0].name << "'"
      << std::endl;
-  RCLCPP_INFO(get_logger(), ss.str().c_str());
+  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, ss.str().c_str());
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::return_type::OK;
diff --git a/example_6/bringup/config/rrbot_modular_actuators.yaml b/example_6/bringup/config/rrbot_modular_actuators.yaml
index 0a658759c..5061aef17 100644
--- a/example_6/bringup/config/rrbot_modular_actuators.yaml
+++ b/example_6/bringup/config/rrbot_modular_actuators.yaml
@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 10  # Hz
+    update_rate: 100  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
diff --git a/example_6/hardware/rrbot_actuator.cpp b/example_6/hardware/rrbot_actuator.cpp
index a1528b623..1adeb8d12 100644
--- a/example_6/hardware/rrbot_actuator.cpp
+++ b/example_6/hardware/rrbot_actuator.cpp
@@ -164,7 +164,7 @@ hardware_interface::return_type RRBotModularJoint::read(
   ss << std::fixed << std::setprecision(2) << std::endl
      << "\t" << hw_joint_state_ << " for joint '" << info_.joints[0].name.c_str() << "'";
 
-  RCLCPP_INFO(get_logger(), "%s", ss.str().c_str());
+  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%s", ss.str().c_str());
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::return_type::OK;
@@ -181,7 +181,7 @@ hardware_interface::return_type ros2_control_demo_example_6::RRBotModularJoint::
   ss << std::fixed << std::setprecision(2) << std::endl
      << "\t" << hw_joint_command_ << " for joint '" << info_.joints[0].name.c_str() << "'";
 
-  RCLCPP_INFO(get_logger(), "%s", ss.str().c_str());
+  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%s", ss.str().c_str());
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::return_type::OK;