Closed kx-guan closed 4 years ago
Hi @kx-guan
It could be that the simulation is running really slowly, can you check the output of mc_bin_perf /tmp/mc-control-LIPMWalking-latest.bin
the next time you try to run the controller?
Hi, Dear Dr. @gergondet. Thank you very much. I gave two results of " mc_bin_perf /tmp/mc-control-LIPMWalking-latest.bin" as follows:
Could you give me any advice? Thank you very much. Best regards.
Hi @kx-guan ,
These are pretty bad numbers, here's what I get on my machine for reference:
---------------------------------------------------------------
| | Average | StdEv | Min | Max |
---------------------------------------------------------------
| ControllerRun | 0.328 | 0.266 | 0.0901 | 13.7 |
| FrameworkCost | 21.8 | 8.06 | 1.24 | 100 |
| GlobalRun | 0.426 | 0.457 | 0.123 | 22.4 |
| Gui | 0.00926 | 0.0221 | 0.00076 | 0.376 |
| Log | 0.0448 | 0.029 | 0.0126 | 1.01 |
| MPCBuildAndSolve | 0.213 | 0.0723 | 0.142 | 0.382 |
| MPCSolve | 0.0417 | 0.0145 | 0.0288 | 0.0906 |
| Plugins_ROS | 0.0435 | 0.354 | 0.00229 | 22 |
| Plugins_ROS_after | 0.0429 | 0.354 | 0.00212 | 22 |
| Plugins_ROS_before | 0.000549 | 0.00303 | 7.5e-05 | 0.185 |
| SolverBuildAndSolve | 0.186 | 0.0847 | 0.0448 | 1.59 |
| SolverSolve | 0.0383 | 0.0187 | 0.0162 | 0.727 |
| Stabilizer | 0.0225 | 0.0151 | 0.00347 | 0.183 |
---------------------------------------------------------------
How did you compile mc_rtc and its dependencies? You should probably set CMAKE_BUILD_TYPE
to RelWithDebInfo
Hi, Dear Dr. @gergondet. Thank you very much for quick response. Yes, I compiled with the debug type. Now I recompiled mc_rtc and its dependencies with release type.Then I tested again. Now the panel does not flash again. And can see the robot walking. This problem has been solved. Thank you very much again. Best regards.
Hi @kx-guan
That's great to hear. I'll close the issue then.
Hi, Dear everyone: Thank you very much for discussion.
I compiled the new version (1.6) of LIPM stabilizer (https://github.com/stephane-caron/lipm_walking_controller), with new version (v1.2.1) of mc_rtc (but replace GUIState.h by <mc_rtc/gui.h> as mentioned in LIPM stabilizer #35) using Ubuntu 16.04LTS.
When I tried to run simulation in V-REP, the components inside the mc_rtc panel in ROS RViz flashed (appear and disappear about once per second). The marker in left side robot flashed with the components inside the mc_rtc panel, too. The robot itself did not flash. The title "mc_rtc panel" did not flash. I tried to push the buttons in the mc_rtc panel, but the buttons did not work. Last year, the previous version of LIPM stabilizer with the previous version of mc_rtc did not have such phenomenon (using Ubuntu 14.04LTS). Could you give me any advice? Thank you very much. Best regards.