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[WBD] fixed handling of MAS periodicity #677

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merged 1 commit into from
Aug 27, 2020
Merged

[WBD] fixed handling of MAS periodicity #677

merged 1 commit into from
Aug 27, 2020

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pattacini
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@pattacini pattacini commented Aug 27, 2020 •
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Upon analyses @julijenv reported in robotology/icub-tech-support#976, this PR does the following:

  • Increase the reading timeout of IMU data from 0.04 s to 0.1 s as it was in the past. @Nicogene any clue why this has been made tighter?
  • Make the filtering thread run at 100 Hz instead of 1 kHz, which was unnecessarily too high given the sampling frequency of the received data plus streaming the results at 1 kHz on YARP is hazardous.

@Nicogene @traversaro please review/comment.

After merging, we need to update devel and then tag 1.17.0.

cc @maggia80 @marcoaccame @davidetome @violadelbono

@pattacini pattacini self-assigned this Aug 27, 2020
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After this PR we could inspect what's the statistics of delays seen on WBD side.

@pattacini pattacini merged commit 7baee55 into master Aug 27, 2020
@pattacini pattacini deleted the fix/wbd-handling-mas branch August 27, 2020 08:20
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@traversaro traversaro traversaro approved these changes

@Nicogene Nicogene Awaiting requested review from Nicogene

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@pattacini pattacini

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