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EGM Control lag

Open stephanie-eng opened this issue 3 years ago • 1 comments

EGMManager.waitForMessage() will sometimes take 15+ ms when trying to run with an update rate of 250 Hz (and EGMActJoint SampleRate of 4 ms).

Using EGMManager.read() without waitForMessage() will sometimes result in reading the same message multiple times - this may cause slightly choppy robot movements.

Diagram of EGM architecture image

See related: https://github.com/ros-industrial/abb_libegm/issues/49

stephanie-eng avatar Apr 05 '22 18:04 stephanie-eng

Hi,

I actually encountered the same problem. I wasn't yet able to track it down completely, however, I fixed the control lag by switching from EGMManager to EGMControllerInterface. Maybe that also helps you.

marctuscher avatar Mar 11 '23 16:03 marctuscher