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

[Eitan Marder-Eppstein]

That makes a lot more sense. I guess missing the "0.1" would mean you think
that you can accelerate faster than you actually can up to some maximum
speed, but that maximum speed should still be the same as at 10Hz once you
reach it. That sounds like a real pain to find.

-Eitan

On Tue, Nov 30, 2010 at 4:03 PM, Eric Perko <wisesage5001 at gmail.com> wrote:

> 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
>> --
>> View this message in context:
>> http://ros-users.122217.n3.nabble.com/running-move-base-and-stageros-at-100Hz-tp1996011p1996011.html
>> Sent from the ROS-Users mailing list archive at Nabble.com.
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>
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