diff --git a/planning.ods b/planning.ods
new file mode 100644
index 0000000..440e094
Binary files /dev/null and b/planning.ods differ
diff --git a/src/producer.cpp b/src/producer.cpp
index 370d97e..8028afe 100644
--- a/src/producer.cpp
+++ b/src/producer.cpp
@@ -15,12 +15,14 @@ ros::NodeHandle n;
 
 ros::Publisher producer_pub = n.advertise<std_msgs::Float64MultiArray>("producer", 10);
 
-ros::Rate loop_rate(1);
+ros::Rate loop_rate(1000);
 
 std_msgs::Int32 msg;
 
+// define and set up message to send
+//float64 = 8 bytes
     std_msgs::Float64MultiArray array_msg;
-    size_t count = 6400;
+    size_t count = 16384;
     array_msg.data.resize(count);
     for (size_t i = 0; i < count; i++)
     {