Lag when running python dummy loop on vulcan

Caltech-AMBER / obelisk

A stable generic robot control interface.

https://caltech-amber.github.io/obelisk/

MIT License

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Lag when running python dummy loop on vulcan #30

Closed alberthli closed 2 months ago

alberthli commented 2 months ago

When running the full launch file for the dummy example on vulcan, both the viz and the sim sensor publisher are very laggy and slow. however, this doesn't happen when I run the same loop locally on a laptop. Need to debug.

alberthli commented 2 months ago

An update: this only happens when using MultiThreadedExecutors. It turns out there's this open issue about it here: https://github.com/ros2/rclpy/issues/1223

We can try switching to CycloneDDS to see if that resolves the issue.