fix: 配置默认imu频率为200Hz

saturn_controller/config/saturn_controller.yaml

@@ -3,6 +3,6 @@ saturn_controller:
     # 基本类型参数
     motion_computer_ip_address: '192.168.144.103'
     main_timer_frequency: 50.0
-    imu_timer_frequency: 30.0
+    imu_timer_frequency: 200.0
     legged_odom_timer_frequency: 100.0
     joints_state_timer_frequency: 5.0

saturn_controller/src/config_handler.cpp

@@ -40,7 +40,7 @@ void ConfigHandler::loadConfig() {
     main_timer_frequency_ =
         declareOrGetParam<float>(node_, "main_timer_frequency", 50.0);
     imu_timer_frequency_ =
-        declareOrGetParam<float>(node_, "imu_timer_frequency", 30.0);
+        declareOrGetParam<float>(node_, "imu_timer_frequency", 200.0);
     legged_odom_timer_frequency_ =
         declareOrGetParam<float>(node_, "legged_odom_timer_frequency", 100.0);
     joints_state_timer_frequency_ =