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It is allowed to change the update() method frequency for PR2 controllers?

asked 2011-05-23 22:09:33 -0500

mbj gravatar image

updated 2011-06-22 20:44:33 -0500

mmwise gravatar image

I found the parameters /pr2_controller_manager/mechanism_statistics_publish_rate and /pr2_controller_manager/joint_state_publish_rate, but I didn't find anything that allows me to change the update() method frequency of a controller.

There is any way to modify this or the update() frequency is necessary 1000Hz?

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answered 2011-06-17 12:29:07 -0500

mmwise gravatar image

updated 2011-06-22 20:44:59 -0500

The PR2 controllers are design and tuned to operate at 1KHz, changing the update rate of the controller will significantly impact the stability of the controllers on the PR2. It is not recommended to change the update rate, you do so at your own risk.

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answered 2011-06-17 12:31:54 -0500

Straszheim gravatar image

in the pr2_ethercat package, look in main.cpp for:

period = 1e+6; // 1 ms in nanoseconds

but you shouldn't do this on a real PR2

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Asked: 2011-05-23 22:09:33 -0500

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Last updated: Jun 22 '11