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I havn't completly eliminated the issue yet, but it seems that the blocking element is the call to rospy.loginfo (or warn).

If I remove all the rospy.logX calls, instead of the code getting blocked an average of 4.5 times per minute, it gets blocked only 0.2 times per minute (ie once every 5 minutes).

So the problem isn't totally solved, but at least quitte reduced.

I'm however wonderring :

• why is rospy.log "hanging" at times?
• what else might hand from time to time (for about 1s)? rate.sleep (with rate =10Hz)? rospy.publish? the callbacks? (or the serial communication to the motor controler?)

Thanks a lor in advance

Best

Felix