[ros-users] running move_base and stageros at 100Hz

[Eric Perko]

Fred,

We ran into the Stage simulation time thing as well. See this thread on the
Player-Stage list for some details:
http://old.nabble.com/Stage-Update-Rate-td29948041.html .

Suffice to say, there are indeed parts of Stage that assume a 10Hz update
rate and, when that update is different, can cause your robot to move at a
multiple of normal speed within Stage (while still reporting the correct
velocities.. it was fun trying to figure that one out).

- Eric

On Tue, Nov 30, 2010 at 6:39 PM, FrederikHeger <frederik.heger at vecna.com>wrote:

>
> I am trying to switch from running move_base with the default
> trajectory_planner_ros and a stage simulation at 10Hz (working) to the same
> thing but running at 100Hz. This is in preparation of running things on a
> real robot in the future.
>
> I changed the controller_frequency parameter in move_base.xml (changed to
> 100) and the interval_sim parameter (changed to 10) in the world file used
> for stage. I also noticed a number of places in trajectory_planner.cpp
> where
> ".1" was hardcoded as the time increment. I changed those to ".01".
>
> Trying to run what used to work at 10Hz, I now see a robot that moves way
> faster than it did before. It looks like there is still something assuming
> things are running at 10Hz.
>
> Any suggestions on where to look or how to approach this issue better would
> be appreciated.
>
> Thanks,
> Fred
> --
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