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Optimize control loop?

asked 2013-09-21 04:55:46 -0500

Hendrik Wiese gravatar image

Hi there!

I'm constantly getting warnings like

Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.2028 seconds

using move_base to drive my robot around. Obviously something is taking pretty long within the control loop. What do you think, how could I optimize it to reduce the time a control loop cycle takes?

This is what my current rosgraph looks like:

20130921_rosgraph.png

My personal assumption is that there are too many nodes between /MoveBase and /udpOutgoingInterface.

Thanks for your help!

Cheers, Hendrik

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Did you compile the code, or are you using the debs?

David Lu gravatar imageDavid Lu ( 2013-09-21 10:18:15 -0500 )edit

I'm using the debs. Do you think, compiling the stack explicitly with compiler optimizations for my arch would make that much of a difference?

Hendrik Wiese gravatar imageHendrik Wiese ( 2013-09-22 01:35:07 -0500 )edit

The debs should be correct, I think.

David Lu gravatar imageDavid Lu ( 2013-09-22 05:12:21 -0500 )edit

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answered 2013-09-22 04:53:14 -0500

cagatay gravatar image

Hello,

There are some advices about lack of processing power on Navigation Tuning Guide

some advices may be useful for you

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Asked: 2013-09-21 04:55:46 -0500

Seen: 1,385 times

Last updated: Sep 22 '13