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If anyone is still wondering, I was using ROS on raspberry pi 3 and that just slowed down everything because pi 3 doesn't have enough computational resources. What I did to solve this problem was to move my move base to my laptop, and made my laptop the ROS_Master, while every other file was kept on the pi. That improved the computational power that the robot very much needed. It also made sure that the warning messages of controller frequency and planner frequency completely vanished after this change. Summary: For navigation stack, don't use pi 3, unless your pi 3 has high computational power!