Subscriber in java side not receiving all the commanded target points

[robotgradient]

Hi,

I added a counter in the callback of /command/JointPosition in the java side.

I created a trajectory of 569 points and sent it in a frame rate of 30Hz.

My subscriber is only receiving 100 points, so is losing a fifth part of it. I consider 30Hz to be slow enough frequency rate, but I am not sure.

Any Suggestions?

[SalvoVirga]

That is very strange, I'll try to look into this in the next days.

[robotgradient]

I tried hard on this and I got a maximun communication rate of 10Hz. Seems like subscriber needed lot of time to deal with the data. I was little bit surprised also. I was expecting something much more faster. This was affecting me at the end in strange behaviours coming from the SmartServo.

It was really poor so I jumped to TCP/IP communication getting a communication of 120Hz.

Moreover, I also had the opportunity to work with a robot from another group(CNR-ITIA) and they were facing similar problems.

[lihx108]

I tried hard on this and I got a maximun communication rate of 10Hz. Seems like subscriber needed lot of time to deal with the data. I was little bit surprised also. I was expecting something much more faster. This was affecting me at the end in strange behaviours coming from the SmartServo.

It was really poor so I jumped to TCP/IP communication getting a communication of 120Hz.

Moreover, I also had the opportunity to work with a robot from another group(CNR-ITIA) and they were facing similar problems.

I meet the same problem, and the sunrise java side receive topic at a frequency of 5HZ. How did you solve it?

[JimmyDaSilva]

I have been having delay issues as well, leading to jerky motions as described in the Troubleshooting section of the Sunrise.Servoing 1.15 manual.

For instance, here are the responses to steps and triangles for the last axis, for a command loop at 500Hz using the PositionControl mode.

@SalvoVirga, have you ever had issues like this in the past ? Is there a way to properly play around with the setMinimumTrajectoryExecutionTime(…) and setTimeoutAfterGoalReach functions ? Also, what control frequency people usually use when using iiwa_stack or the SmartServo class in general ?

Basically I also get the jerky motions when I use the MoveIt package. Maybe there is something wrong with my network communication... I even turn on the use of the NTP server, but that didn't solved the problem.

Many thanks, Jimmy