why "map update loop missed" warning occours and what are is effects??

asked 2014-10-18 14:15:38 -0500

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Hello, I am setting up a navigation as explained in Navigation Stack Setup Tutorial stack for P3AT spawned. after making all the costmap files when i run the move_base.launch file the following warning appears:-

[ WARN] [1413658951.699133967]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 2.1020 seconds

I just want to know why this error occurs and what are its effects on automated navigation??

answered 2014-10-18 16:29:25 -0500

paulbovbel

4518 ●12 ●49 ●80 http://www.bovbel.com/

updated 2014-10-18 16:31:48 -0500

It means that your pc is attempting to update the map every 0.2 seconds (5 Hz), but it's actually taking 10x as long. This means you're likely saturating your system's processing capability, and need to reduce the load somewhere. The load could be coming from the costmap itself, from other costly operations such as SLAM, or just a limitation in your hardware.

From a practical point of view, it means that the costmap will have a 2 second delay before it contains data representing the latest sensor information.

To prevent the warning, you can go into the costmap's parameters, and reduce the update rate to something smaller.