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brownvc / SpotReality

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Investigate Drive Mode Issues #10

Closed nivlac12 closed 1 year ago

nivlac12 commented 1 year ago

Sometimes, especially when all point clouds are running, moving spot in Drive mode works terribly. It is possible this is because commands aren't send in as smooth a stream when the framerate slows down. Even once the scene is running, moving Spot is difficult directly through ROS until the whole ROS system is rebooted.

Related issue: it also seems that the command may reach its limit while ROS is running, we should look into that limit: (False, 'bosdyn.api.RobotCommandResponse (ExpiredError): The command was received after its max_duration had already passed.', None)

nivlac12 commented 1 year ago

Today, drive mode has worked smoothly. It is possible this is because the ROS and windows computers are now on ethernet, and the commands can be processed more quickly.

nivlac12 commented 1 year ago

Drive mode has been fine for the most part, so this issue can be closed. If spot barely moves in drive mode, try restarting all ROS components.