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I solved one part of the problem.

The main part is the periodicity of the control loop. I had to be sure that the control was sent to the robot in a suitable rate.

The checked period between two controls was evolving between 0.13 to 0.62 secs, but the time length of sent trajectory was really smaller around 0.05 secs

I optimized my code, mainly the most expensive functions, remove some weirds waiting calls. and the computation time drop down under 0.002 sec in ROS time on my computer.

But there still one problem, the head always fall down.

I solved one part of the problem.

The main part is the periodicity of the control loop. I had to be sure that the control was sent to the robot in a suitable rate.

The checked period between two controls computation time of the block for compute and send the command was evolving between 0.13 to 0.62 secs, but the time length of sent trajectory was really smaller around 0.05 secs

I optimized my code, mainly the most expensive functions, remove some weirds waiting calls. and the computation time drop down under 0.002 sec in ROS time on my computer.computer. Then I could send easily control at 40 Hz.

But there still one problem, the head always fall down.