Terrible frequencies using NXT_ROS over Bluetooth [closed]
Hi,
I'm trying to use NXT_ROS over Bluetooth on Ubuntu 11.04 and ROS electric but the frequencies I get are terrible:
[WARN] [WallTime: 1342015201.551490] ultrasonic_sensor not reaching desired frequency:
actual 3.919776, desired 8.000000
[WARN] [WallTime: 1342015201.813812] caught an exception nxt.error.DirProtError
[WARN] [WallTime: 1342015201.814099] motor_left not reaching desired frequency:
actual 0.180869, desired 8.000000
[WARN] [WallTime: 1342015201.814297] motor_right not reaching desired frequency:
actual 0.180868, desired 8.000000
Is there anything I could do about it?
Best regards, Andreas
Your motors are publishing at a rate of about 5.528863432 Hz, and your ultrasonic sensor is publishing at a rate of about 0.255116619 Hz. You could look into your yaml files and change your publishing rate. I don't know about making it faster, but ROS will know to expect it that slow.
Thanks for the reply, allenh1. The problem with these frequencies is, that updates seem to get lost, e.g. I had been holding a touch sensor pressed for ~2 minutes at a frequency around 0.3 Hz but it didn't seem to publish anything.