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This happens when processing takes more time than the one set by the controller frequency. Could you monitor your CPU usage? If you see this happen after running for a while, it might be the case that your CPU usage is higher due to other processes.

This happens when processing takes more time than the one set by the controller frequency. frequency. As a result the calculated velocities do no match the preset publish frequencies and you notice jerks in movement. Could you monitor your CPU usage? If you see this happen after running for a while, it might be the case that your CPU usage is higher due to other processes.