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uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group
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Reduce Latency of State Estimate Callback #88

Closed kelia closed 4 years ago

kelia commented 5 years ago

When running roslaunch rpg_rotors_interface quadrotor_empty_world.launch, I experience significant lag of the control_command message (messages are published at approx. 40Hz with a period ranging from 0.01s to 0.05s). Since the state estimate is published at 100Hz, control commands should be published at a similar frequency. Adding this transport hint disables Nagle's Algorithm, and results in control commands being published at 100Hz.

kohlerj commented 5 years ago

@kelia Closed already?

kelia commented 4 years ago

@foehnph