Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

MutliThreadedExecutor update rate is unstable #260

Closed
buschbapti opened this issue Dec 8, 2020 · 4 comments
Closed

MutliThreadedExecutor update rate is unstable #260

buschbapti opened this issue Dec 8, 2020 · 4 comments

Comments

@buschbapti
Copy link

I have tried following the ros2_control_demos and made some testing to push the frequency of the update rate. Turned out that hz the /joint_states topic produces inconsistent behaviors with the receiving frequency sometime 10 time slower than expected. I know you are using MultiThreadedExecutor and to my experience I had this issue on a publisher on my own. I initially thought it was because I was using Docker and there was some configuration to do but turns out I can reproduce the same on a desktop installation.

I have opened an issue #1487 on rclcpp repository because I do think it comes from the MultiThreadedExecutor that is not reliable. Have you ever had the same issue? Did you solve it by using some specific things like real time kernel?
@buschbapti
Copy link
Author

buschbapti commented Dec 10, 2020 •
edited

Ok good progress has been made on rclcpp side. It has been confirmed that this problem comes from the MultiThreadedExecutor and a patch has been found. I have tested it and the solution works for the demo as well and solves this issue. Do you want me to close this issue or should I keep it open until the patch has been pushed to rclcpp?

@destogl
Copy link
Member

destogl commented Dec 10, 2020 •
edited

Hi @buschbapti,
Thanks for the detailed analysis! I would keep it open for now, since probably other people will have it also.

So it seems this will be solved in galactic?

@destogl
Copy link
Member

destogl commented Dec 20, 2020

This is related to PR ros2/rclcpp#1168

@bmagyar: can you rename this to "MutliThreadedExecutor update rate is unstable" (or something similar?

@destogl destogl mentioned this issue Dec 20, 2020
Closed
@buschbapti buschbapti changed the title Publishing of the joint_state does not follow the desired rate MutliThreadedExecutor update rate is unstable Dec 21, 2020
@youtalk youtalk mentioned this issue Jan 21, 2021
Merged
@bmagyar
Copy link
Member

bmagyar commented Feb 16, 2021

This is a duplicate of #277, closing in favour

@bmagyar bmagyar closed this as completed Feb 16, 2021
destogl pushed a commit to StoglRobotics-forks/ros2_control that referenced this issue Aug 11, 2022
@roncapat
Add velocity feedback option for diff_drive_controller (ros-controls#260
d86cffa 
)
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@destogl @bmagyar @buschbapti