The project lags after running for a while

[hz-ants]

Thanks to the author for your contribution! Every time the project lags after running for a while. What is the reason for this? How to solve this problem? Thank you!

[lzh2001-debug]

The reason is that during the process of FailureDetector::checkRealTime, continuous odom inputs are required. Therefore, as shown in the figure below, we added these codes during development to check the time difference between consecutive odom frames to ensure that no frames are missed.

First, you should check whether the odom frequency is normal. On my machine, the tested result is around 200 Hz. Second, you can add some code to verify whether the odom inputs in FailureDetector::checkRealTime are continuous (for example, by printing msg->header.seq).

To quickly resolve this issue, possible options include:

1. Lower the parameter min_check_freq, which can be found in algorithm.xml.
2. If you don’t really need failure detection, you can simply comment out the related code in PAExplorationFSM::odometryCallback. This will not affect normal navigation.