I measured the time between when the robot receives a command (directly into the kobuki_node) and when it starts to move (as measured from odometry), and it's about **200ms**, sometimes more. Looking at serial line delay, delays in the driver, the sensor data rate, and so on, I could only explain about 50ms of that. That leaves 150ms which is somehow lost in the firmware. Am I doing something wrong here, or is this normal? Check out this image for a visualization: Top plot is the command, bottom plot is the odometry velocity. I tested pure rotation. ![control_latency_vendor_driver_crop|690x418](upload://miBXkJQ4pLLti9xXLgKdzryiQrl.png) --- [Visit Topic](https://discourse.ros.org/t/turtlebot2-control-dead-time-latency-of-200ms/4443/1) 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: