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

[Eric Perko]

Yup. This was just maybe a month or month and a half ago with C-Turtle, and
it looks like Stage was updated to 3.2.2 long before then.

- Eric

On Tue, Nov 30, 2010 at 7:51 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:

> On Tue, Nov 30, 2010 at 6:35 PM, Eric Perko <wisesage5001 at gmail.com>
> wrote:
> > It actually looked like it was a problem where one part of Stage was
> > advancing by timesteps of 0.1 seconds at 20Hz (this would be whatever
> > determines where the robot ends up in the Stage GUI and therefore where
> the
> > data is simulated from) and another part of Stage was advancing by
> timesteps
> > of 0.05 seconds at 20Hz (the position model that actually reports a
> location
> > in order to simulate odometry). Basically, we'd tell the robot to go 2.5
> > meters forward, the odometry that ROS was outputting based on the
> position
> > model would report 2.5 meters forward, but the robot would have moved 5
> > meters forward in the Stage GUI. It was always a multiple of the new
> update
> > rate/10Hz... so for example it moves twice as far with a 20Hz update as a
> > 10Hz update. It was quite entertaining to watch the robot teleport around
> > with an update rate of 50 or 100Hz :)
> > We never did find the exact spot that was causing the problem even after
> > digging through a good bit of the Stage source, but it looked like 10Hz
> was
> > pretty well assumed throughout all of Stage.
>
> Is this problem found in the ROS-packaged stage version 3.2.2?
> --
>  joq
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20101130/ac47963c/attachment-0003.html>