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

FrederikHeger frederik.heger at vecna.com
Tue Nov 30 23:39:13 UTC 2010

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.

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