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Can ROS CANopen communicate at more than 200 Hz?

asked 2020-02-03 11:06:46 -0600

pmuthu2s gravatar image

updated 2020-02-03 12:21:01 -0600

I was just wondering, if it is possible to send and receive (say for example velocity commands) at more than 200 Hz, even if the motor controller supports the above frequency?

If not ? What is the reason ?

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answered 2020-02-04 04:47:44 -0600

Mathias Lüdtke gravatar image

if it is possible to send and receive (say for example velocity commands) at more than 200 Hz

It should be possible, if you use a RT kernel, but I have never tried it.

Without a RT kernel the jitter is huge and you will not be able to control the drive properly. In my tests 100 Hz are fine on a non-RT kernel, 200 Hz is already getting unstable. Things get a little bit better, if you switch to the external BCM-based sync.

If not ? What is the reason ?

ROS and ros_control are multi-threaded and the thread scheduling is not reliable on a non-RT kernel.

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Asked: 2020-02-03 11:06:46 -0600

Seen: 148 times

Last updated: Feb 04 '20