Tickrate sensors too low

[SijmenHuizenga]

At this moment the physics engine updates the state of the car 40 times a second (when fully equipped with cameras and Lidars). This is too low because groundspeedsensor, odometery, imu and car controlls need to operate at much higher rate. Let's try to get the tickrate of the game up to at least 100hz.

[SijmenHuizenga]

disclaimer: all these tests are run on my local computer.

PawnSimApi.updateKinematics is being called at 140 hz with no ros bridge connected. With ros bridge connected it is a lot more unstable, jumping between 40 and 140 hz. Primary suspect at this moment: cameras

[SijmenHuizenga]

Yes, when no camera's configured the tickrate stays nicely at 140hz. freaking cameras #43

[SijmenHuizenga]

No cameras: 149
Current cameras (with noise): 90
Camera noise disabled: 90

noise is not the problem

[SijmenHuizenga]

Tickreate is not as steady as it seemd. In 300 ticks (without cameras) the smallest delay between ticks was 1/259 second and the largest delay was 1/90 second. That is a pretty big delay.

[SijmenHuizenga]

With a static framerate of 30 fps and the following subtick settings we get a tickrate of 100hz

Time between ticks: 0.033333 second
Time between subticks: 0.008333 second

[SijmenHuizenga]

As you can see in these pr's, ive been trying to get this to work. At this moment the carstate is updated 100hz , but somehow the odometry still only provides new data 37 hz. I have to leave this be for now because other thing are more important. :/