[ROS2] ekf_node running slower than set frequency
Operating System: Ubuntu 20.04
Installation type: $ sudo apt install ros-foxy-robot-localization
Version or commit hash:
ros-foxy-robot-localization is already the newest version (3.1.1-1focal.20220204.181349)
Hi
Above are my robot_localization package installed environment. Currently, I am running on gazebo simulation, and I have input both /odom detected at 50Hz and /imu/data detected at 50Hz, but the output of /odometry/filtered is only 10Hz. I print out /diagnostics and found that the target frequency is 0.0 Hz, which results message: Frequency too high.
I have also tested with setting parameter frequency with following values and these are their corresponding result:
| Parameter Frequency | 5.0 | 8.0 | 10. | 15. | 20. | 30. | 40. |
| Diagnostics Target Hz | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 |
| Diagnostics Actual Hz | 5.0 | 8.0 | 10. | 10. | 10. | 10. | 10. |
Any idea / suggestion that i can bring it back to desired frequency? Never face this issue when using ekf_node in ROS1, but faced this issue when porting to ROS2.
Best,
Samuel
