I feel silly asking this, but where do I set the controller frequency for move_base when using the navigation stack?
I have the navigation stack running and robot can be commanded from one place to another. It's not elegant or smooth so now I am trying to tune it.
The default value for controller_frequency is 20.0 but I'd like to set it to lower as I don't even get odometry at 20Hz, much less the lidar data. It makes no sense to send commands faster than odom comes in. I get the warning "Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.2001 seconds"
For test I have tried "controller_frequency: 15.0" in the **move_base.launch** and the **base_local_planner_params.yaml** files, but still get warning that control loop doesn't achieve 20.0Hz, so I know the setting at 15.0 isn't working.
Don't get me wrong, I do not care about the warning, but the warning makes it clear that the way I am trying to set it isn't working. Once I figure out how to set it I will find the exact value that works best.
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