High latency between roscontrol and Roboteq node
I've wrote a controller code using roscontrolboilerplate as base, and connected it to the Roboteq driver using ROS topics. After that, I loaded a diffdrivercontroller and was able to control the robot using twist messages, but looking at the graph generated by rqtplot, there's a delay of more than 100ms between the twist message (roscontrol) and the setpoint message (roboteq driver).
Both are running on the same machine, and using 100Hz control loop. Is there any way to identify the bottleneck, so I can fix it? I was expecting a delay of a few ms, at worst.
Asked by Vitor on 2017-06-27 09:45:13 UTC
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