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robotology / robots-configuration

Contains robots configuration files
BSD 3-Clause "New" or "Revised" License
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Unintended change of frequency of iCub's controlBoard_nws_yarp instances from 100 Hz to 50 Hz #378

Closed traversaro closed 2 years ago

traversaro commented 2 years ago

Historically, iCub's Network Wrapper Servers (i.e. the YARP devices that publish informations over YARP ports) have run at 100 Hz. I may be wrong, but it seems to me that in the latest NWS/NWC layers migration (see https://github.com/robotology/robots-configuration/pull/321 and subsequent PRs), we switched to use 50 Hz frequency. It seems that this happend because we removed all the <param name="period">10</param> parameters, meaning that now we rely on the default period of controlBoard_nws_yarp, that is 1/0.02 = 50 Hz, see https://github.com/robotology/yarp/blob/v3.7.2/src/devices/ControlBoardWrapper/ControlBoard_nws_ros.h#L41 .

pattacini commented 2 years ago

Quite an important change that went on unseen, actually. Thanks @traversaro for the nice catch.

I would ask @randaz81 to comment on this.

For the time being, the quick fix on e.g. iCub 3 could be to make the NWS explicitly run at 100 Hz resorting to the proper parameters in the config files. Remember that periods are now in expressed seconds (i.e., 0.01) and no longer milliseconds.

cc @davidetome

pattacini commented 2 years ago

We started from iCubGenova01 and iCubGenova09 and spread the changes to the other robots. Apparently, both iCubGenova01 and iCubGenova09 no longer expose the parameter period explicitly.

pattacini commented 2 years ago

@Nicogene is on it. The idea is to update the robots' config files to set the period explicitly.

traversaro commented 2 years ago

Note that the problem was originally spotted by @GiulioRomualdi . fyi @S-Dafarra