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yxyang / locomotion_simulation

MIT License
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the issue of frequency #2

Closed a2821952 closed 3 years ago

a2821952 commented 3 years ago

Thank you for your help, I try to detect the frequency of robot, and I found that the frequency is hard to reach 300HZ, and I'm wondering which computer on A1 you are using for MPC, Tx2 in the front part? or Upboard in the back?

yxyang commented 3 years ago

I used neither TX2 nor the Upboard. Both were too slow for my code (though if you convert everything to C++ it should work).

I got it to work on a Nvidia Jetson Agx Xavier at ~330Hz. A decent intel NUC could reach 400-500Hz. A intel 10th-gen i9 CPU could reach 1000Hz. I chose the Jetson Xavier cuz it could be powered using on-board power supply.

a2821952 commented 3 years ago

Thank you for your explain!