The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Just answering this one, to hopefully help someone in the future. So as far as I remember, the diagnostics topic is not the right topic to use as feedback for any system and should be strictly used for troubleshooting only. It also has got nothing to do with ros::Rate mentioned in the question.
In the end we ended up using a Joint State Publisher node to provide feedback on the /joint_states topic. One thing to remember while using ROS control with hardware driver commands is that, driver commands have limitations in terms of communication latency and the frequency of the entire loop cannot be improved beyond a certain limit.
| | 2 | No.2 Revision |
Just answering this one, to hopefully help someone in the future. So as far as I remember, the diagnostics topic is not the right topic to use as feedback for any system and should be strictly used for troubleshooting only. It also has got nothing to do with ros::Rate mentioned in the question.
In the end we ended up using a Joint State Publisher node to provide feedback on the /joint_states topic. One thing to remember while using ROS control with hardware driver commands is that, driver commands have limitations in terms of communication latency and the frequency of the entire loop cannot be improved increased beyond a certain limit.limit. For our case the peak was about 10-20 Hz.
| | 3 | No.3 Revision |
Just answering this one, to hopefully help someone in the future. So as far as I remember, the diagnostics topic is not the right topic to use as feedback for any system and should be strictly used for troubleshooting only. It also has got nothing to do with ros::Rate mentioned in the question.
In the end we ended up using a Joint State Publisher joint_state_controller node to provide feedback on the /joint_states topic. One thing to remember while using ROS control with hardware driver commands is that, driver commands have limitations in terms of communication latency and the frequency of the entire loop cannot be increased beyond a certain limit. For our case the peak was about 10-20 Hz.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
