Control loop missed its desired rate
Hello,
I have a problem when I build the navigation stack (devel indigo) that i did never face when I installed it with using sudo apt-get install ros-indigo-navigation, the problem is that the control loop is missing its desired rate of 5hz, the local costmap size is 3m by 3m and its resolution is 0.05. Here is the warning that i am getting:
[ WARN] [1524125112.095931256]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.2046 seconds
[ INFO] [1524125112.491546356]: Got new plan
[ WARN] [1524125114.698599014]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.2072 seconds
[ INFO] [1524125115.491465052]: Got new plan
[ WARN] [1524125116.108928896]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.2176 seconds
[ INFO] [1524125116.491496231]: Got new plan
[ WARN] [1524125116.808921642]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.3176 seconds
[ WARN] [1524125117.296804175]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.2054 seconds
[ INFO] [1524125117.491502162]: Got new plan
[ INFO] [1524125118.491515789]: Got new plan
As I stated before this never happened before with the same exact configurations. Also this problem disappears when I restart the robot and the it drives perfectly, and appears again after few restarts and the robots starts to have "unsmooth movements". Thank you in advance.
Edit: now even when I returned to using the debs this problem still occurs.
Have you made sure to compile it with optimisations turned on (ie:
CMAKE_BUILD_TYPE=Release)?Yes, still the same exact problem.
how it is supposed to compile navigation stack with optimisation flags? we just do
sudo apt-get install ros-kinetic-navigation, dont we?The OP mentioned he had built
navigationfrom source, before installing the Debian packages.If you installed using
apt, you don't need to build anything yourself.ok, got it! thanks