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.
When running
roslaunch rpg_rotors_interface quadrotor_empty_world.launch
, I experience significant lag of thecontrol_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.