stack-of-tasks / sot-hrprtc-hrp2 Goto Github PK

Apparently, the process freezes after the call to advertiseService on François Keith computer.

@francois-keith can you elaborate on this?
@olivier-stasse does this trigger anything to you? can you confirm that the onExecute method is running in the real-time thread?

Hello

@olivier-stasse @florent-lamiraux
I have some issues defining the frequency of the main control loop.
During my execution, the control loop frequency (ie the delay between two calls of RtcStackOfTasks::onExecute) oscillates between 50 and 100Hz, whereas it should be a fixed 200Hz.
To do this measurement, I have reduced this method to the strict minimum (so that it does not come from the real computation of the control value), aka

RTC::ReturnCode_t RtcStackOfTasks::onExecute(RTC::UniqueId /* ec_id */)
{
captureTime (t1_);
ofs_timing << "startExecute " << getDelay(t0_,t1_) < < std::endl;
captureTime (t0_);
return RTC::RTC_OK;
}

I though the tuning of this frequency could be done in the rtc.conf file, but it is not used since the executable RtcStackOfTasksComp is never run.

In fact, this frequency does not seem to be related to this issue.
Indeed, rtcat indicates that the rate of the sot component is 1000 (aka the default one).

$ rtcat -l /localhost/sot.rtc
[...]
 -Execution Context 0
    State  Stopped
    Kind   Periodic
    Rate   1000.0
    Owner  sot

and trying to force the rate using

  ExecutionContext_ptr ecp = get_context(ec_id);
  ecp->set_rate(200);

changes the rate of the execution context, but not the rate of call to the onExecute method.

Do you have the same problem?
Could you please give me an hint on what I should do to correct this issue?

Regards