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POST No. 2408062

How fast is the C++ SDK compared to Python for ROS?

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2021-07-07 23:18:15 Forenkazan

Hi

I have been using the Python SDK to control the wheels of a mobile robot I am developing. I am currently facing some issues in trajectory control due to some slowness, which is run around 500 times a second (500Hz).

Will converting my code to C++ and using the Dynamixel C++ SDK help? And how fast will it be compared to Python SDK approximately?

Or is the bottleneck the motors and their controller, not the language used?

	2021-07-07 23:18:15
Forenkazan

0

2021-07-09 13:09:34 Will Son

Hi,

There are a few configurations that could enhance the communication speed, and based on an assumption that you are using X series,

Set the serial port latency to 1ms (Linux or Windows default is 16ms)
Use higher baudrate for DYNAMIXEL Baudrate such as 2~3Mbps
Set the Return Delay Time to 0
When accessing multiple DYNAMIXEL modules, use Sync Read or Sync Write

Python might slower than C/C++ so if your code is very sensitive to the processing time, C++ is recommended, but try the above first.

Unfortunately, we do not have such test data for each library.

Thanks.

	2021-07-09 13:09:34
willson

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