Servo cannot reach the desired control rate

[AndyZe]

Description

Launch a Servo demo, e.g.

ros2 launch moveit_servo demo_ros_api.launch.py

ros2 run moveit_servo servo_keyboard_input

Monitor the joint command publication rate:

ros2 topic hz -w 500 /panda_arm_controller/joint_trajectory

It's nowhere close to the desired rate of 100 Hz. I get ~60 Hz. Not sure exactly when this regression happened but I suspect PR #2651.

[AndyZe]

It looks like changing to the online_signal_smoothing::ButterworthFilterPlugin instead of online_signal_smoothing::AccelerationLimitedPlugin does help, it increases the control rate to ~75 Hz. But that's still lower than the requested 100Hz, which used to be easy to achieve. Previously 1,000 Hz was achievable.

[sea-bass]

I see a lower rate when I try to toggle directions back and forth, maybe because there is some dead time in between switching keys somewhere between me and what servo receives.

But if I just hold down a button and go right into joint limits/singularity, I hit 100 Hz no problem on my 4 year old laptop?

servo_rate.mp4

[sea-bass]

Here's another one in which I am just spamming arrow keys in twist mode.

servo_rate_2.mp4

[AndyZe]

You're right, it must be some kind of Linux button debouncing issue.