control loop lose its desired rate

edit

###Hi,every earnest fork## In the past of couples weeks, I have been tuning robot's navigation. But it still have some troubles when going to nav goals even with a static map.

One of those question is control loop always lose its desire rate. When I use my own notebook on the robot, I set control frequency = 8Hz, and it runs good, but when I use another computer, the warning always jump onto screen. I know the reason is either the latter computer sucked or some parameter was not properly set.

Here it is the key configuration about the latter computer

Intel Atom D2550 1.86GHz

2G RAM

and base_local_planner parameter

controller_frequency: 8
recovery_behavior_enabled: true
clearing_rotation_allowed: true

TrajectoryPlannerROS:
   max_vel_x: 0.55
   min_vel_x: 0.25
   max_vel_theta: 1.2
   min_vel_theta: -1.2
   min_in_place_vel_theta: 0.9
   escape_vel: -0.4
   acc_lim_x: 2.0
   acc_lim_y: 2.0
   acc_lim_theta: 2.5

   holonomic_robot: false
   yaw_goal_tolerance: 0.3 # about 18 degrees
   xy_goal_tolerance: 0.2  # 10 cm
   latch_xy_goal_tolerance: true
   pdist_scale: 0.8
   gdist_scale: 0.4
   meter_scoring: true

   heading_lookahead: 0.5
   heading_scoring: true
   heading_scoring_timestep: 0.8
   occdist_scale: 0.3
   oscillation_reset_dist: 0.1
   publish_cost_grid_pc: true
   prune_plan: true

   sim_time: 2.0
   sim_granularity: 0.04
   angular_sim_granularity: 0.025
   vx_samples: 18
   vtheta_samples: 30
   dwa: true
   simple_attractor: false