Home | Tutorials | Wiki | Issues
Ask Your Question
0

DRCSIM ROS Topics Synchronization.

asked 2013-02-27 08:26:55 -0500

Luis Filipe Rossi gravatar image

Hello,

Is there any mechanism to efficiently synchronize DRCSIM ROS topics? In a real robot the synchronization would happen with the control system tick. However, as the clock, force sensors, joint states, etc... update at the "same time" i cannot be sure that all the other variables have already being updated when triggering my control with clock callback.

Best regards,

LR

edit retag flag offensive close merge delete

Comments

I posted a question to answers.ros http://answers.ros.org/question/56258/how-can-i-post-to-ross-callbackqueue/ trying to get around this issue. Waiting and testing to see that all data is received and processed before doing controls calculations is fraught with peril, and will likely cause significant issues due to latency.

dcconner gravatar imagedcconner ( 2013-02-27 16:49:15 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2013-02-28 08:09:14 -0500

dcconner gravatar image

updated 2013-02-28 08:10:21 -0500

edit flag offensive delete link more

Comments

it's been further updated to https://bitbucket.org/osrf/drcsim/pull-request/169/add-atlas-atlas_command-and-atlas, as the originally proposed state message gets fragmented.

hsu gravatar imagehsu ( 2013-04-02 19:53:55 -0500 )edit
Login/Signup to Answer

Question Tools

Stats

Asked: 2013-02-27 08:26:55 -0500

Seen: 215 times

Last updated: Feb 28 '13