/X1/points frequency decreased from 15Hz to 10Hz

[osrf-migration]

Original report (archived issue) by Paul Jurczak (Bitbucket: pauljurczak).

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/X1/points frequency was 15Hz on 2019-12-26 with urban_qual. It is 10Hz today. Can I control this frequency? If not, is it going to stay fixed at 10Hz for the rest of SubT Challenge and for other worlds?

[osrf-migration]

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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• set assignee_account_id to "557058:90bc87b0-2886-4377-a17c-3a6629a697ff"
• set assignee to "azeey (Bitbucket: azeey, GitHub: azeey)"

[osrf-migration]

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

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I can't reproduce this using X1_SENSOR_CONFIG_4. What sensor configuration are you using?

Catkin-based test:
ign launch urban_circuit.ign worldName:=urban_qual robotConfig1:=X1_SENSOR_CONFIG_4 robotName1:=alpha

What sensor configuration are you using on the X1?
starthur@arthur-XPS-15-9570:~/subt_ws/src/subt/subt_ign/launch$ rostopic hz /alpha/points
subscribed to [/alpha/points]
WARNING: may be using simulated time
average rate: 14.894
	min: 0.056s max: 0.076s std dev: 0.00589s window: 15
average rate: 14.948
	min: 0.056s max: 0.076s std dev: 0.00545s window: 30
average rate: 14.873
	min: 0.056s max: 0.084s std dev: 0.00574s window: 43
^Caverage rate: 14.944
	min: 0.052s max: 0.088s std dev: 0.00738s window: 49

Docker image based test:

Using default tag: latest
latest: Pulling from osrf/subt-virtual-testbed
Digest: sha256:a6bc67978258c77380df85564963a321ffc08de7218e1e12ed15b88dea1e3ea9
Status: Image is up to date for osrf/subt-virtual-testbed:latest
docker.io/osrf/subt-virtual-testbed:latest

cd ~/subt_ws/src/subt/docker; ./run.bash osrf/subt-virtual-testbed:latest urban_circuit.ign robotName1:=alpha robotConfig1:=X1_SENSOR_CONFIG_4

oarthur@arthur-XPS-15-9570:~$ rostopic hz /alpha/points
subscribed to [/alpha/points]
WARNING: may be using simulated time
average rate: 15.075
	min: 0.056s max: 0.072s std dev: 0.00528s window: 13
average rate: 15.033
	min: 0.056s max: 0.072s std dev: 0.00512s window: 28
average rate: 15.051
	min: 0.056s max: 0.072s std dev: 0.00507s window: 42
^Caverage rate: 15.044
	min: 0.056s max: 0.072s std dev: 0.00509s window: 56

[osrf-migration]

Original comment by Paul Jurczak (Bitbucket: pauljurczak).

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Try: ign launch -v 4 urban_circuit.ign headless:=true worldName:=urban_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1. Sorry for not mentioning it in my report.

[osrf-migration]

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

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arthur@arthur-XPS-15-9570:~$ rostopic hz /X1/points 
subscribed to [/X1/points]
WARNING: may be using simulated time
average rate: 10.000
	min: 0.096s max: 0.104s std dev: 0.00214s window: 8
average rate: 9.975
	min: 0.096s max: 0.104s std dev: 0.00171s window: 17
^Caverage rate: 9.982
	min: 0.096s max: 0.104s std dev: 0.00190s window: 23

It seems the COSTAR_HUSKY_SENSOR_CONFIG_1 does have an update rate of 10 Hz. I would like to provide note that the X1 != COSTAR_HUSKY vehicle and that I do not think that model has been modified in quite some time. It more likely than not was released with a 3D LIDAR publishing data at 10 Hz as that is configuration that was delivered by Team CoSTAR.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Indeed, the COSTAR_HUSKY_SENSOR_CONFIG_1 has an update rate of 10 Hz. Please submit a PR to change this update rate. We will need to review the change.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed kind from "bug" to "enhancement"