Open LuHaofan opened 9 months ago
@LuHaofan, Disclaimer: I am just a Create3 owner. What follows is my personal opinion.
Haofan, you have "discovered" a secret: There are many things the Create3 performs at 62 to 100 times per second, and a few things on the order of seconds per request, efficiently interleaved by a processor slightly more powerful than what might be considered a micro-controller operating at 70 to 80% and sometimes even 100% CPU at 70% of 59MB available memory.
The driving action servers are useful for initial learning in ROS 2, but have some disadvantages for complex robot environments, such as:
The "slow initiation" of the Create3 native action servers is likely not something that will (or can) be addressed by the iRobot team. If the action servers are useful, great, if not the distributed nature of ROS allows fast, external action servers tailored to users' needs.
I recently ordered a turtlebot4 standard for my research, which has an create 3 base. I am trying to drive my turtlebot with the action server using the instructions in the documentation. Specifically, I call this command in my CLI:
The prompt shows: Waiting for an action server to become available... And then it takes 20~30 seconds before I actually get a response from the robot and it starts to move. This delay is way too long for my application to bear and I wonder how to deal with this issue?
Here is some additional information about my setup and debugging process:
user.notice ntpd: ntpd: reply from [192.168.186.3](http://192.168.186.3/): delay 0.004474 is too high, ignoring
in the create 3 log. Not sure how to fix it...)I have searched on the internet but could not find a similar issue. Any help would be appreciated
Thank you so much for your help!