[ros-users] Strange "move_base" behaviour
olufs at acin.tuwien.ac.at
Tue Jul 27 21:26:47 UTC 2010
I have a strange problem with the "move_base" module:
The CPU load is always 100 % (on a Quad Core Machine !) Is this normal ?
I can lower the control_loop_rate, but there is no difference at all in the runtime.
When I lower the update rate of the local_costmap to 2Hz i get 60% load...
I used the settings that are proposed in the "navigation tutorial", so nothing special..
I also get strange Warning like:
"Map update loop missed its desired rate of 0.5000Hz" for the global_costmap (6000x6000, 0.005m per pixel)
and the global_costmap never publish anything (using rviz)
The robot moves also very strange, i.e. stop-and-go behaviour, and seem to follow the path with a delay of 2sec !!
I assume it is the global map that consumes the computational power, but as far i understand it is only updated once (at the start)
Thanks for help in advance..
Sven Olufs, M.Sc
ACIN | AUTOMATION& CONTROL INSTITUTE
INSTITUT FÜR AUTOMATISIERUNGS-& REGELUNGSTECHNIK
TECHNISCHE UNIVERSITÄT WIEN
Gußhausstraße 27-29 | 376. 1040 Wien
Tel. +43 (0)1 58801 - 37666
Fax. +43 (0)1 58801 - 37698
olufs at acin.tuwien.ac.at | www.acin.tuwien.ac.at
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