As Geoff already mentioned, I will be talking about such things at ROSCon in more detail. Some of the things you could check in your system: - What's your CPU load? If it's high -> What else is running on the machine? - What's your sensor data-rate? - What's your sensor delay (the time between the physical measurement and when the sensor sends it out)? - Are your components time-triggered (ros::Rate or ros:Timer) or data-triggered (subscriber callback)? For minimal latency, data-triggering is preferable - Is NO_DELAY enabled on your subscribers? - What's the computational complexity of your obstacle avoidance algorithm? --- [Visit Topic](https://discourse.ros.org/t/questions-about-improving-the-ros-real-time-method/2302/7) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: