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leap-hand / LEAP_Hand_API

API for controlling LEAP Hand
http://leaphand.com/
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Can't query the joint position in more than 30Hz. #8

Open hang0610 opened 4 months ago

hang0610 commented 4 months ago

Hi,

Here is my situation. I modified the ros Rate from 30Hz to 60Hz in the script ros_example.py, then I found the rate of the publishing topic "/leaphand_node/cmd_leap" was still around 30Hz. I tested the query time of "leap_position" which turned out to be around 0.03s\~0.04s. But according to your document, the query time of the single "leap_position" should be 0.01s\~0.02s (90Hz)?

How can I query the single "leap_position" in a higher rate than 30Hz?

hang0610 commented 4 months ago

Update:

If I uninstall other USB devices in my MiniPC and only keep the leap-hand USB, the query rate can increase to around 45Hz. Is the query rate lower than the expected because of the limitation of Micro-B (USB-2.0) or my MiniPC?

Lucky7Chess commented 4 months ago

I have also run into this issue. It is an issue with some computers drivers and the u2d2. You can try switching controllers or drivers or baud rate but there's no pattern I could find that leads to this. You can also contact Dynamixel support and maybe they can help you debug further.

hang0610 commented 4 months ago

I have also run into this issue. It is an issue with some computers drivers and the u2d2. You can try switching controllers or drivers or baud rate but there's no pattern I could find that leads to this. You can also contact Dynamixel support and maybe they can help you debug further.

Got it. Thanks Kenny! I think there is a need to keep this issue open to see if anyone can provide a specific solution in the future.

happygaoxiao commented 2 months ago

With ROS2 we can get the joint states at 60Hz. See an eample from the official repo