Comments (2)
rickstaa
commented on July 17, 2024
Closed for now. Will reopen if the speed becomes a problem.
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rickstaa
commented on July 17, 2024
This has been fixed upstream in rickstaa/openai_ros/33c5985be4426fb4411b470364da89ee6134ff4e and rickstaa/panda-gazebo/701e5555729d853dd5daae9bb9c8258b010826d5. The panda environments now have a proxy and direct mode. These modes can be switched in the task environment configuration files. Proxy mode uses the panda-gazebo package for controlling the robot while the direct mode directly publishes the control commands on the ros_control controller topics. With these modes the following control speeds are achieved on my laptop:
- DIRECT CONTROL: 350 hz
- PROXY CONTROL: 190 hz
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