I'm running the ignition simulation.
It's worth mentioning that since I'm not using a GPU, it runs incredibly slow (0.2 real time factor).
This seems to cause problems in the undocking action, that terminates while the robot is still backing up (i.e. before it turn 180 degree).
Logs from the simulator terminal:
[motion_control-20] [INFO] [1645199480.062020673] [motion_control]: Received new undock goal
[motion_control-20] [WARN] [1645199490.479844511] [motion_control]: Reached backup limit! Stop Driving robot backward or disable from safety_override parameter!
[motion_control-20] [WARN] [1645199531.984501790] [motion_control]: Reflex Exceeded Runtime without clearing hazard
The issue is caused by the very slow real time factor.
If I run the system at 1x, the problem goes away.
Still there's definitely a bug somewhere in the code as the actions shouldn't depend on the wall-time.
Describe the bug
I'm running the ignition simulation. It's worth mentioning that since I'm not using a GPU, it runs incredibly slow (0.2 real time factor).
This seems to cause problems in the undocking action, that terminates while the robot is still backing up (i.e. before it turn 180 degree).
Logs from the simulator terminal:
The issue is caused by the very slow real time factor. If I run the system at 1x, the problem goes away. Still there's definitely a bug somewhere in the code as the actions shouldn't depend on the wall-time.
To Reproduce In one terminal:
in another terminal:
Screenshots Final position of the robot: