diff --git a/livox_ros_driver/launch/livox_hub.launch b/livox_ros_driver/launch/livox_hub.launch
index b3f670b..133bdef 100644
--- a/livox_ros_driver/launch/livox_hub.launch
+++ b/livox_ros_driver/launch/livox_hub.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="0"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="1"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/livox_hub_msg.launch b/livox_ros_driver/launch/livox_hub_msg.launch
index 34d2302..6367000 100644
--- a/livox_ros_driver/launch/livox_hub_msg.launch
+++ b/livox_ros_driver/launch/livox_hub_msg.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="1"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="1"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/livox_hub_rviz.launch b/livox_ros_driver/launch/livox_hub_rviz.launch
index bb3c774..c8d1172 100644
--- a/livox_ros_driver/launch/livox_hub_rviz.launch
+++ b/livox_ros_driver/launch/livox_hub_rviz.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="0"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="1"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="true"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/livox_lidar.launch b/livox_ros_driver/launch/livox_lidar.launch
index 4b9bd91..dc875b0 100644
--- a/livox_ros_driver/launch/livox_lidar.launch
+++ b/livox_ros_driver/launch/livox_lidar.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="0"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="0"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/livox_lidar_msg.launch b/livox_ros_driver/launch/livox_lidar_msg.launch
index e89a8cd..cafd502 100644
--- a/livox_ros_driver/launch/livox_lidar_msg.launch
+++ b/livox_ros_driver/launch/livox_lidar_msg.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="1"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="0"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/livox_lidar_rviz.launch b/livox_ros_driver/launch/livox_lidar_rviz.launch
index 8b51ef5..c1b9ef3 100644
--- a/livox_ros_driver/launch/livox_lidar_rviz.launch
+++ b/livox_ros_driver/launch/livox_lidar_rviz.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="0"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="0"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="true"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/livox_template.launch b/livox_ros_driver/launch/livox_template.launch
index d0ebdf4..ce6af13 100644
--- a/livox_ros_driver/launch/livox_template.launch
+++ b/livox_ros_driver/launch/livox_template.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="0"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="0"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/lvx_to_rosbag.launch b/livox_ros_driver/launch/lvx_to_rosbag.launch
index 6e2c01f..0bfb2e4 100644
--- a/livox_ros_driver/launch/lvx_to_rosbag.launch
+++ b/livox_ros_driver/launch/lvx_to_rosbag.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="0"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="2"/>
-	<arg name="publish_freq" default="20.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="1"/>
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
diff --git a/livox_ros_driver/launch/lvx_to_rosbag_rviz.launch b/livox_ros_driver/launch/lvx_to_rosbag_rviz.launch
index 31a5ae4..a9fc730 100644
--- a/livox_ros_driver/launch/lvx_to_rosbag_rviz.launch
+++ b/livox_ros_driver/launch/lvx_to_rosbag_rviz.launch
@@ -5,7 +5,7 @@
 	<arg name="xfer_format" default="0"/>
 	<arg name="multi_topic" default="0"/>
 	<arg name="data_src" default="2"/>
-	<arg name="publish_freq" default="50.0"/>
+	<arg name="publish_freq" default="10.0"/>
 	<arg name="output_type" default="0"/>
 	<arg name="rviz_enable" default="true"/>
 	<arg name="rosbag_enable" default="true"/>