experiencing stuttering without a telnet debugging output

[legend-chen]

Dear Yaskawa Engineers
I’m facing an issue with Motoros2: everything works as expected when using Telnet debugger, but when I stop using it and run MoveIt independently with the default RViz control tool, I experience a series of stutters. Do you have any suggestions on what could be causing this or how to fix it?
Thanks for your help!

[ted-miller]

Hello @legend-chen

Can you clarify whether you're using the Debug Logging client or using the log_to_stdout feature? If using the log_to_stdout feature, this will impact performance of the application. It would slow down execution.

I do not have any specific explanation of what you're experiencing. Though perhaps it is something similar to this report: #43 (comment)

[legend-chen]

Hello @legend-chen

Can you clarify whether you're using the Debug Logging client or using the log_to_stdout feature? If using the log_to_stdout feature, this will impact performance of the application. It would slow down execution.

I do not have any specific explanation of what you're experiencing. Though perhaps it is something similar to this report: #43 (comment)

Hi，@ted-miller, thanks for the reply. Yes, I have enabled the log_to_stdout feature and established a Telnet connection in Motoplus IDE, which should slow down the application. However, strangely, even though it was supposed to slow it down, it actually runs better with no lags. Should I keep the telnet connection all the time?

[ted-miller]

@legend-chen
I have not been able to reproduce this behavior. Though maybe your MoveIt path generator is hammering the software with more messages than my simple motion script.

I don't have any explanation of how the telnet connection could influence behavior of the motion. Maybe it's buffering the messages more since there's nowhere to output them??? (That's purely speculation.)

My recommendation is to set log_to_stdout = false to disable any printing. It is recommended to use the Debug Logging client as an alternative method to view debug output.

[gavanderhoorn]

I would also recommend to capture some network traffic using Wireshark. That might help us diagnose what's going on.

@legend-chen: could you also clarify whether you're building from source or using a binary version of MotoROS2? Seeing as you mention MotoPlus IDE, I wanted to ask.

Please also clarify how you installed MotoROS2 and how you are running it.

I've seen 'strange' issues when starting MotoROS2 in unconventional ways.

Please also clarify which controller you are using and which robot.

And finally: how did you configure MoveIt? Which time-parameterisation fi? Any special configurations?

[gavanderhoorn]

I've updated the title of the discussion to better reflect the content of the OP. It doesn't appear to be about lagging, but about observing motion stuttering.