controller-frequency-tuning
CommunityTune Nav2 controller loop for optimal speed.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Tuning the Nav2 controller server frequency to balance CPU load and ensure responsive, stable navigation across typical indoor robot deployments.
Core Features & Use Cases
- Adjust the controller_frequency to achieve the desired trade-off between responsiveness and CPU usage for MPPI, DWB, or FollowPath controllers.
- Tune ancillary parameters like costmap_update_timeout, failure_tolerance, and velocity thresholds to reduce latency, jitter, and false positives in goal attainment.
- Provide diagnostic guidelines and example configurations for actionable debugging during nav tasks in real-world robots.
Quick Start
Set controller_frequency to 20 Hz and observe /controller_server diagnostics to confirm the control loop meets the target rate.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: controller-frequency-tuning Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#controller-frequency-tuning Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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