control loop missed its desired rate of and Map update loop missed its desired rate of .. How can if fix it?
Hello,
i'm developing self-driving system in ROS.
I'm using dwa and teb-local-planner.
When I use dwa, there are not any errors about control loop missed and Map update loop missed ,
but it appears when I use teb-local-planner.
when I turn on my launch-files, there are not any messages.
however when I put in goal in rviz, those error messages are appeared.
-[ WARN] [1643096039.582383298, 50.080000000]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 3.3750 seconds
-[ WARN] [1643096051.686276123, 60.852000000]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 10.7720 seconds
-[ WARN] [1643096051.687017057, 60.852000000]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 14.0720 seconds
-[ WARN] [1643096052.534314906, 61.536000000]: TebLocalPlannerROS: trajectory is not feasible. Resetting planner...
-[ WARN] [1643096052.544694928, 61.544000000]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.6920 seconds
I think, it is starting to appear when robots are starting to move.
i checked my CPU id, it is about 60~70%, so I think CPU problem is not reason.
i also changed controller_frequency and controller_patience in move_base pkg and
update_frequency and publish_frequency in global_cost_map_params and local_costmap_params several times
but it doesn't work.
And I use same map as when I use dwa, instead of teb. There are not any problems in dwa planner.
I want to resolve those problems. plz help me.
what should I do??
my develop environment are Linux 18.04, ros1-melodic , gazebo
i fixed it right before.
it is because local costmap size is too big and local cost map resolution is too small.
i shrink it from 6m x 6m to 4m x 4m, it doesn't make any error messages.
Also i use bigger resolution, 0.01 -> 0.1 , it works.
in my opinion, as local costmap size is big , the number of local paths which can be produced by teb planner is too big, so CPU can't update control loop and map update at time.
Hi @danekim, I edited the question. Please use the format button 101010 for code or error messages, it helps readability. Thank you for updating your solution. I suggest, instead of a comment, add it as an answer. You may respond your own questions and accept with the check mark button.