diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml
index a294913..333dac8 100644
--- a/ur_rtde_driver/config/ur10_controllers.yaml
+++ b/ur_rtde_driver/config/ur10_controllers.yaml
@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
 
 pos_traj_controller:
@@ -58,5 +58,5 @@ pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
diff --git a/ur_rtde_driver/config/ur3_controllers.yaml b/ur_rtde_driver/config/ur3_controllers.yaml
index a294913..333dac8 100644
--- a/ur_rtde_driver/config/ur3_controllers.yaml
+++ b/ur_rtde_driver/config/ur3_controllers.yaml
@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
 
 pos_traj_controller:
@@ -58,5 +58,5 @@ pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
diff --git a/ur_rtde_driver/config/ur5_controllers.yaml b/ur_rtde_driver/config/ur5_controllers.yaml
index a294913..333dac8 100644
--- a/ur_rtde_driver/config/ur5_controllers.yaml
+++ b/ur_rtde_driver/config/ur5_controllers.yaml
@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
 
 pos_traj_controller:
@@ -58,5 +58,5 @@ pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10