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robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
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Message queue not served @ controller rate = 100 Hz #46

Closed pattacini closed 8 years ago

pattacini commented 8 years ago

We have experienced big problems while controlling reaching with a rate of 100 Hz (i.e. sample period Ts = 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 of 10 Hz is way low...

cc @randaz81 @barbalberto @ale-git

barbalberto commented 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.

pattacini commented 8 years ago

I deem we can close it for now.