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?
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