Controllers version v1.2.0 are jittery #12
Description
Excessive computation in update() function causes instability during Cartesian control
Environment:
- ROS jazzy
- realtime kernel
- franka network test passed
- franka robot type: fr3v2
- zenoh rmw
- default controller from franka_ros2 package running 40+mininuts without crash
- robot firmware: v5.8.2
Description:
In the following commit:
da805ab
It appears that the update() function performs too many calculations during real-time critical operations. This leads to performance issues that affect the controller’s stability.
Observed behavior:
- When running Cartesian control, the robot exhibits significant shaking and becomes difficult or impossible to operate reliably.
This indicates that the update() loop does not consistently meet the Franka controller’s real-time requirements.
Expected behavior:
The robot should maintain stable and smooth motion during Cartesian control without oscillations.
Possible cause:
The computational load inside update() may be too high for real-time execution, causing delays or jitter in control loop timing.
Suggested improvement:
Consider moving non-time-critical computations outside of the real-time loop, or optimizing the existing code to reduce the computational overhead in update().