Closed pattacini closed 8 years ago
This was related to issue #45, and thus solved by 2d5ecd0.
In general case, we see this problem when a positionMove
or setPosition
are called on tripodMotionControl
at "high" rate.
As a rule of thumb, if this error happens again on CER robot, then verify that the code is not calling a loop over single joint for tripod device or position command are not sent at too high frequency.
I deem we can close it for now.
We have experienced big problems while controlling reaching with a rate of
100 Hz
(i.e. sample periodTs = 0.01 s
). What happened was that the internal messages queue got increasing and, as result, the movements got delayed of significant amount of time.By changing
Ts = 0.1 s
, we improved the situation, even though a rate of10 Hz
is way low...cc @randaz81 @barbalberto @ale-git