Hey, 2011/1/4 Dan Lazewatsky : > Hi Steven - > I've noticed similar problems on a few of our robots, mainly when using > image_transport to send video over wifi. To figure out if wifi is the > problem, there are two things I've found helpful: before starting any of the > code running, from your workstation, ping the robot and see if the ping time > increases. The other thing you can try is watching iwconfig on the robot to > see if the link quality deteriorates over time. > Unfortunately, I never really figured out what was going on. Replacing the > wifi cards in the affected computers seemed to solve the problem. > -Dan I've figured out the problem occurs the moment I start running the navigation stack. I've been able to build a map using gmapping (running the gmapping mode on the groundstation), and the ping responses were constantly okay. When I start up navigation without a pre-build map (amcl - move base - gmapping), the ping responses suddenly increase (from 2 - 8 ms to 1000+ ms). When I try the same with a static map, everything goes well. Am I doing something wrong in this setup, e.g. can I run amcl and gmapping at the same time? If not, how should I run the navigation stack without a prebuild map? Another problem I face is about the navigation: the holonomic robot localizes itself OK, but the goals I send with rviz only manage to let it rotate (there is never a translational velocity command), so the robot starts rotating, but never gets anywhere close where I want him to go :). Any ideas on that? regards, Steven regards, Steven > > On Tue, Jan 4, 2011 at 9:15 AM, Steven Bellens > wrote: >> >> Hi, >> >> when using ROS to command a mobile base, I'm running a hokuyo_node and >> an orocos component node on the mobile base. On my workstation I have >> the navigation stack running, which gets laserscan data from the >> hokuyo node and sends velocity commands to the orocos component. I >> only switched to use the wireless network recently and noticed that, >> after running the app for some minutes, it looks like some delay >> starts to build up: when I drive the robot with the teleop_keyboard, >> after 2 minutes, it starts reacting very slow on my input commands. >> What's the best way to determine if the Wifi is indeed the problem >> and, if so, can I run this more optimally with ROS considering this >> restriction? >> >> regards, >> >> Steven >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >