diff --git a/controllers/ocs2_quadruped_controller/README.md b/controllers/ocs2_quadruped_controller/README.md
index 12ceda8..5f62e29 100644
--- a/controllers/ocs2_quadruped_controller/README.md
+++ b/controllers/ocs2_quadruped_controller/README.md
@@ -7,6 +7,8 @@ Tested environment:
 
 * Ubuntu 24.04
     * ROS2 Jazzy
+* Ubuntu 22.04
+    * ROS2 Humble
 
 [![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/)
 
diff --git a/descriptions/anybotics/anymal_c_description/config/robot_control.yaml b/descriptions/anybotics/anymal_c_description/config/robot_control.yaml
index 506be9a..5b46889 100644
--- a/descriptions/anybotics/anymal_c_description/config/robot_control.yaml
+++ b/descriptions/anybotics/anymal_c_description/config/robot_control.yaml
@@ -26,7 +26,7 @@ imu_sensor_broadcaster:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
     default_kd: 1.5
     joints:
       - LF_HAA
diff --git a/descriptions/deep_robotics/lite3_description/config/robot_control.yaml b/descriptions/deep_robotics/lite3_description/config/robot_control.yaml
index c73597c..efec54f 100644
--- a/descriptions/deep_robotics/lite3_description/config/robot_control.yaml
+++ b/descriptions/deep_robotics/lite3_description/config/robot_control.yaml
@@ -77,7 +77,7 @@ unitree_guide_controller:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
     default_kd: 1.2
     joints:
       - FL_HipX
diff --git a/descriptions/deep_robotics/x30_description/README.md b/descriptions/deep_robotics/x30_description/README.md
index 5322bff..6376e8f 100644
--- a/descriptions/deep_robotics/x30_description/README.md
+++ b/descriptions/deep_robotics/x30_description/README.md
@@ -6,6 +6,8 @@ This repository contains the urdf model of x30.
 Tested environment:
 * Ubuntu 24.04
     * ROS2 Jazzy
+* Ubuntu 22.04
+    * ROS2 Humble
 
 ## Build
 ```bash
diff --git a/descriptions/deep_robotics/x30_description/config/robot_control.yaml b/descriptions/deep_robotics/x30_description/config/robot_control.yaml
index 971ad68..7f63839 100644
--- a/descriptions/deep_robotics/x30_description/config/robot_control.yaml
+++ b/descriptions/deep_robotics/x30_description/config/robot_control.yaml
@@ -77,7 +77,7 @@ unitree_guide_controller:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
     default_kd: 8.0
     joints:
       - FL_HipX
diff --git a/descriptions/unitree/a1_description/config/robot_control.yaml b/descriptions/unitree/a1_description/config/robot_control.yaml
index 80178f2..7071db9 100644
--- a/descriptions/unitree/a1_description/config/robot_control.yaml
+++ b/descriptions/unitree/a1_description/config/robot_control.yaml
@@ -76,7 +76,7 @@ unitree_guide_controller:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
 
     joints:
       - FL_hip_joint
diff --git a/descriptions/unitree/aliengo_description/config/robot_control.yaml b/descriptions/unitree/aliengo_description/config/robot_control.yaml
index 178e124..fd150a0 100644
--- a/descriptions/unitree/aliengo_description/config/robot_control.yaml
+++ b/descriptions/unitree/aliengo_description/config/robot_control.yaml
@@ -73,7 +73,7 @@ unitree_guide_controller:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
     default_kd: 5.0
 
     joints:
diff --git a/descriptions/unitree/b2_description/config/robot_control.yaml b/descriptions/unitree/b2_description/config/robot_control.yaml
index f825fbd..e7ff6fb 100644
--- a/descriptions/unitree/b2_description/config/robot_control.yaml
+++ b/descriptions/unitree/b2_description/config/robot_control.yaml
@@ -73,7 +73,7 @@ unitree_guide_controller:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
 
     default_kd: 8.0
 
diff --git a/descriptions/unitree/go1_description/config/robot_control.yaml b/descriptions/unitree/go1_description/config/robot_control.yaml
index 0ebfd6b..d6f4b1f 100644
--- a/descriptions/unitree/go1_description/config/robot_control.yaml
+++ b/descriptions/unitree/go1_description/config/robot_control.yaml
@@ -73,7 +73,7 @@ unitree_guide_controller:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
 
     joints:
       - FL_hip_joint
diff --git a/descriptions/xiaomi/cyberdog_description/config/robot_control.yaml b/descriptions/xiaomi/cyberdog_description/config/robot_control.yaml
index ac7029d..4fc93a7 100644
--- a/descriptions/xiaomi/cyberdog_description/config/robot_control.yaml
+++ b/descriptions/xiaomi/cyberdog_description/config/robot_control.yaml
@@ -100,7 +100,7 @@ imu_sensor_broadcaster:
 
 ocs2_quadruped_controller:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 100  # Hz
     default_kd: 1.0
 
     joints: