I have a powerfull cpu, But still get map update warning

Hi all, I m using Intel NUC with an i5 processor, 8GB ram, nvme ssd on an AGV. I m using amcl and movebaseflex nodes for navigation. Even with this much computational power, I m getting warnings as below:

Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.1090 seconds
Calculation needs too much time to stay in the moving frequency! (0.1190s > 0.0500s)

What could be the issue? How should I deal with this?

Asked by Saurabh Rahatekar on 2023-06-24 00:22:06 UTC

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Answers

As my knowledge, is related with amcl. It produce very good localization accuracy but if you work on big maps, problem. You should try cartographer, more complex parameters but might be avoid your problem.

Asked by mustafakurban on 2023-06-24 01:00:39 UTC

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Is it good for larger maps? My area is around 130 Sqr. Mtrs. large.

Asked by Saurabh Rahatekar on 2023-06-25 23:54:34 UTC

Yes, we are using cartographer at a shopping mall floor. It's pretty good. But as I say, parameter optimization took us some time

Asked by mustafakurban on 2023-06-27 11:48:50 UTC

Thank you.

Asked by Saurabh Rahatekar on 2023-06-27 23:11:38 UTC

There are plenty of factors that could affect costmap update frequency. In my experience, usually what causes the map update rate to miss the desired rate is either (1) costmap has lots of layers to update, including but not limited to the inflation that needs to be done, and (2) the planner is taking a long time to plan the path. For the former look at reducing the number of updates that needs to be done, and for the latter look at using more efficient planners like a*star planner.

Asked by Guess Giant on 2023-06-27 01:12:55 UTC