diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index f73f94f2960753bb6a9f9e6296d4fe0fdc7bdeab..4ef1f1aaa320db6273f006840b288f550d088c0c 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -17,10 +17,12 @@
   <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
     <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
     <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
+    <param name="rate" value="30"/>
   </node>
   <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
     <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
     <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
+    <param name="rate" value="30"/>
     <remap from="/joint_states" to="/joint_states_desired" />
   </node>
 </launch>