map/ Control loop missed its desired rate of 5.0000Hz
Hello. I am using ros melodic and I am trying to do mapping and navigation. I am getting the following error:
[ WARN] [1650054845.623709897]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.5385 seconds
[ INFO] [1650054845.736170614]: Got new plan
[ WARN] [1650054846.329010324]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.5936 seconds
[ WARN] [1650054846.737950676]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.4089 seconds
[ WARN] [1650054847.121657015]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.3837 seconds
I have already tried the suggestions in other posts with similar errors with no success. I am not sure what code I should send for debugging. Please let me know.
Edit: Here are the params that I am using:
global_costmap:
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 5.0
static_map: true
transform_tolerance: 0.5 #1.0
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap:
local_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 2
publish_frequency: 2
static_map: false
rolling_window: true
width: 2 #5
height: 2 #5
resolution: 0.1
transform_tolerance: 0.3
costmap params:
robot_radius: 0.19
transform_tolerance: 0.3
map_type: costmap
obstacle_layer:
enabled: true
obstacle_range: 2.5 #2.5
raytrace_range: 3.5 #3.5
inflation_radius: 0.2 #.5
track_unknown_space: false
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.2 #.5 # max distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "map"
Asked by MiPlayer on 2022-04-15 15:54:42 UTC
Answers
that is okay this does not affect much its just that it expected a higher or lower frequency but instead the frequency was higher/lower than expected you can change this so that the expected frequency is higher/lower in costmap params
Asked by bribri123 on 2022-04-15 18:48:43 UTC
Comments
I have been changing some of the params and I still seem to get the same error. Do you have any suggested values I can try? (I edited my original post to include what I have)
Asked by MiPlayer on 2022-04-17 11:19:48 UTC
I encountered the same error and I solved it by increasing the value of the parameter transform_tolerance from the parameters of the costmap. Try increasing it by small increments and see if the problem persist, notice that a value too large could cause some problems because the data it get will be too old.
Asked by AlessioParmeggiani on 2022-04-16 05:04:11 UTC
Comments
I messed around with the transform tolerance and it does not seem ot be improving. Do you have any suggested values I can try? (I edited my original post to include what I have)
Asked by MiPlayer on 2022-04-17 11:22:21 UTC
Comments