EGM Control lag

[stephanie-eng]

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

See related: ros-industrial/abb_libegm#49

[marctuscher]

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.