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micro-ROS / micro_ros_raspberrypi_pico_sdk

Raspberry Pi Pico (RP2040) and micro-ROS integration
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Timer timeout bellow 500ms doesn't work #228

Closed negre closed 2 years ago

negre commented 2 years ago

As mentionned in issue https://github.com/micro-ROS/micro_ros_arduino/issues/56 timer bellow 500ms doesn't work on the arduino nano rp2040 connect

Issue template

Steps to reproduce the issue

  1. copy the micro-ros_publisher example and set the timer_timeout to 100 ms instead of 1000 
    $ diff orig.ino new.ino 
64c64
<   const unsigned int timer_timeout = 1000;
---
>   const unsigned int timer_timeout = 100;
79d78
<   delay(100);
  2. start micro_ros agent 
    $ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -b 115200
  3. display topic frequency : 
    $ros2 topic hz /micro_ros_arduino_node_publisher
average rate: 1.577
min: 0.101s max: 0.901s std dev: 0.37674s window: 3
average rate: 1.722
min: 0.101s max: 0.901s std dev: 0.39155s window: 5
average rate: 1.792
min: 0.101s max: 0.901s std dev: 0.39554s window: 7
average rate: 1.834
min: 0.101s max: 0.901s std dev: 0.39716s window: 9
average rate: 1.861
min: 0.101s max: 0.901s std dev: 0.39798s window: 11

Expected behavior

Average rate should be 10 Hz

Actual behavior

Average rate is 2 Hz

Additional information

Acuadros95 commented 2 years ago

Hello @negre,

The compiler version of the micro-ROS library builder for this board was outdated, causing unexpected behavior on executor internal time measurements. This PR should fix it: https://github.com/micro-ROS/micro_ros_arduino/pull/490.

I have updated the releases with this fix, please give it a try: https://github.com/micro-ROS/micro_ros_arduino/releases

Acuadros95 commented 2 years ago

Closing this, reopen if the problem persist