I am working with an ATI sensor and also streaming points to the robot using RTDE.
I’ve noted that when I use just the RTDE interface, the robot appears to move quite smoothly, but when I wrap the move command in polyscope with the force command the update rate on point streaming decreases significantly.
Does anyone have any suggestions on how this might be resolved?
Real-Time Data Exchange (RTDE) Guide - 22229
Key features:
Real-time synchronization: The RTDE generally generates output messages on 125 Hz. However, the real-time loop in the controller has a higher priority than the RTDE interface. Therefore, if the controller lacks computational resources, it will skip a number of output packages. The skipped packages will not be sent later, the controller will always send the most recent data. Input packages will always be processed in the control cycle they are received, so the load for the controller will vary depending on the number of received packages.
Fascinating. So because the control loop for the external force sensor is also using RTDE, this may be consuming too many resources and may cause a delay in receiving streamed position data?