Control Loop error

asked 2019-03-06 00:00:57 -0600

kwidjaja002 gravatar image

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.

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Comments

From that WARN I 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.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-06 01:54:04 -0600 )edit

Forgot to add that before the warning, there is always this info first.

[ WARN]: mmWave customized rotate recovery behavior started. [ WARN]: Clearing costmaps... [ WARN]: Performing rotation... [ WARN]: Completed rotation... [ INFO]: Got new plan

Don't think it should perform rotate recovery

kwidjaja002 gravatar image kwidjaja002  ( 2019-03-06 02:29:29 -0600 )edit