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oscar-lima / pybullet_ros

A bridge between ROS and PyBullet
MIT License
108 stars 32 forks source link

Low update rate when using ros localisation pkgs #19

Closed Shervina-lim closed 4 years ago

Shervina-lim commented 4 years ago

Hi, I have tried running amcl, hector slam and quickmcl for robot localisation in pybullet using a custom robot model but I got very bad results. It was producing map -> odom transforms at 1hz. Using the same config, I tested them on gazebo and I got 20 hz. Strangely slam gmapping was ok and running at 20hz. You mentioned that you tried integrating with ROS navigation stack, have you encountered this problem? Please give me some advice to overcome this problem. Thank you!

Shervina-lim commented 4 years ago

Solved this issue by increasing lidar scan rate to 5hz in the laser scanner plugin.