Control Loop error
This is sort of the continuation of my previous post. I was able to get a more reliable obstacle detection by lowering the resolution. However, I am still confused on why I get a control loop error. While I seem to find some post regarding this problem, all of them due to a slight time delay. While in my case, the delay is always more than 20 seconds and up to 60 seconds.
What happened during that time is every time I specified a goal on RVIZ, instead immediately aiming for the desired path, it will perform a 360-degree rotation first to the desired heading. Then it just hover in place. After the rotation, these errors always come up.
[ INFO]: Got new plan
[ WARN]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 60.3261 seconds
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan
It will not stop until I force the package to stop. I don't know what cause this behavior and I cannot found anyone else with a similar problem.
From that
WARNI would speculate that there just isn't sufficient CPU processing capability available to run the control loop at a sufficient rate. 5 Hz would be 0.2 seconds. On your platform one iteration takes 60 seconds. That is 300x too slow.I would first look into that.
Forgot to add that before the warning, there is always this info first.
Don't think it should perform rotate recovery