ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Optimize control loop?

asked 2013-09-21 04:55:46 -0600

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:


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

Thanks for your help!

Cheers, Hendrik

edit retag flag offensive close merge delete


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

David Lu gravatar image David Lu  ( 2013-09-21 10:18:15 -0600 )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 image Hendrik Wiese  ( 2013-09-22 01:35:07 -0600 )edit

The debs should be correct, I think.

David Lu gravatar image David Lu  ( 2013-09-22 05:12:21 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2013-09-22 04:53:14 -0600

cagatay gravatar image


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

some advices may be useful for you

edit flag offensive delete link more

Question Tools



Asked: 2013-09-21 04:55:46 -0600

Seen: 1,715 times

Last updated: Sep 22 '13