Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

ros_control loops with different frequency

asked 2014-09-18 07:17:02 -0600

arennuit

955 ●67 ●83 ●98

Hi all,

Is it possible to specify loops with different frequencies in ros_control?

More specifically I am thinking about a low-level loop for motor control (I am thinking something like 200 1000Hz) and a somehow higher level loop for differential or mecanum drive control (something between 30Hz and 100Hz)?

These loops can both use ros_control but the higher the level, the slower the requirements for the speed of the loop...

Thanks,

Antoine.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-09-18 09:28:08 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

See Controllers at different update rates in ros_control, which contains a reference to ros_control/pull/127: "Added optional per-controller update period".

edit flag offensive delete link

Comments

The referenced pull request is indeed what you should be looking at. I believe the implementation is there, but is lacking test coverage. Adding this missing bit would fast track the merging process, otherwise it might sit there until someone has the cycles to pull it through.