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ivovandongen / CarND-Capstone

MIT License
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Fix latency issues #5

Open ivovandongen opened 5 years ago

MaxEtzo commented 5 years ago

Johannes did a great job in PID branch. Setting queue_size for subscribers (!!!) (turns out you can do that roscpp) in Autoware code from 10 to 1 is one of the keys. As the result, after a pile up due to latency Autoware code starts processing old messages (10 messages back)

MaxEtzo commented 5 years ago

I will revert few rates back to high. Not stupidly high though, for example waypoint_updater only needs to publish at 30Hz (originally 50Hz), as Autoware code works at 30Hz.

MaxEtzo commented 5 years ago

driving_while_lag Works completely fine with lag after the changes to Autoware code.