[ros-users] smach state transition latency

[Wim Meeussen]

Travis,

That's some weird behavior I've never seen before. Can you reproduce
this behavior in a small example?  That would be very helpful for us
to reproduce and fix this problem. You can file a ticket on
<https://code.ros.org/trac/ros-pkg/> .

Wim




On Mon, Apr 18, 2011 at 5:01 AM, Travis Deyle <beambot at gmail.com> wrote:
> I've run across some curious behavior within smach, and I was curious if
> others have observed similar issues.
>
> The issue arises when using a Concurrency container _and_ the smach_viewer.
> In essence, when running my state machine with smach_viewer and without
> concurrency, the state transitions are almost instantaneous.  The same
> applies when running without the smach_viewer and with the concurrency
> section.  However, when I run both the concurrency container and
> smach_viewer simultaneously, _all_ state transitions take 7+ seconds.   If I
> start off without the viewer, the transitions are instantaneous, but degrade
> as soon as the viewer launches.
>
> Any thoughts or suggestions?
>
> ~Travis Deyle
> PhD student @ Georgia Tech's Healthcare Robotics Lab
> Co-Founder www.Hizook.com -- Robotics News for Academics & Professionals
>
>
> PS -- Occasionally I get the following smach_viewer error:
>
> [ERROR] [WallTime: 1303127819.346248] bad callback: <bound method
> SmachViewerFrame._status_msg_update of <__main__.SmachViewerFrame; proxy of
> <Swig Object of type 'wxFrame *' at 0x953f420> >>
> Traceback (most recent call last):
>   File
> "/opt/ros/diamondback/stacks/ros_comm/clients/rospy/src/rospy/topics.py",
> line 563, in _invoke_callback
>     cb(msg)
>   File
> "/opt/ros/diamondback/stacks/executive_smach_visualization/smach_viewer/smach_viewer.py",
> line 659, in _status_msg_update
>     if container.update_status(msg):
>   File
> "/opt/ros/diamondback/stacks/executive_smach_visualization/smach_viewer/smach_viewer.py",
> line 146, in update_status
>     self._local_data._data = pickle.loads(msg.local_data)
>   File "/usr/lib/python2.6/pickle.py", line 1374, in loads
>     return Unpickler(file).load()
>   File "/usr/lib/python2.6/pickle.py", line 858, in load
>     dispatch[key](self)
>   File "/usr/lib/python2.6/pickle.py", line 1090, in load_global
>     klass = self.find_class(module, name)
>   File "/usr/lib/python2.6/pickle.py", line 1124, in find_class
>     __import__(module)
> ImportError: No module named geometry_msgs.msg._PoseStamped
>
>
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>



-- 
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)