{"action":"created","issue":{"url":"https://api.github.com/repos/ipa320/cob_control/issues/98","repository_url":"https://api.github.com/repos/ipa320/cob_control","labels_url":"https://api.github.com/repos/ipa320/cob_control/issues/98/labels{/name}","comments_url":"https://api.github.com/repos/ipa320/cob_control/issues/98/comments","events_url":"https://api.github.com/repos/ipa320/cob_control/issues/98/events","html_url":"https://github.com/ipa320/cob_control/issues/98","id":138438575,"number":98,"title":"[cob4_base][ros_canopen][cob_elmo_homing] Debugging cob4_base performance","user":{"login":"ipa-fxm","id":508006,"avatar_url":"https://avatars.githubusercontent.com/u/508006?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm","html_url":"https://github.com/ipa-fxm","followers_url":"https://api.github.com/users/ipa-fxm/followers","following_url":"https://api.github.com/users/ipa-fxm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm/orgs","repos_url":"https://api.github.com/users/ipa-fxm/repos","events_url":"https://api.github.com/users/ipa-fxm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2016-03-04T10:25:36Z","updated_at":"2016-03-04T14:46:57Z","closed_at":null,"body":"Initial assumption:\r\ncob4-base seems to behave \"jerkier\" since recently. This _could_ be related to switching to `ros_canopen`, but is not guaranteed to be the reason as the behavior has not been monitored in such detail before...so no comparable plots are available.\r\n\r\nCreating this issue to document the progress and the insights.\r\n@ipa-mdl @ipa-fmw @ipa-tif @ipa-bnm\r\n\r\n(Setup is latest `ros_canopen` (as of https://github.com/ros-industrial/ros_canopen/commit/e513abc12cea620ab32b058bc90252a0e10ada97) and latest \"ipa320/indigo_dev\" (as of today))"},"comment":{"url":"https://api.github.com/repos/ipa320/cob_control/issues/comments/192307331","html_url":"https://github.com/ipa320/cob_control/issues/98#issuecomment-192307331","issue_url":"https://api.github.com/repos/ipa320/cob_control/issues/98","id":192307331,"user":{"login":"ipa-fxm","id":508006,"avatar_url":"https://avatars.githubusercontent.com/u/508006?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm","html_url":"https://github.com/ipa-fxm","followers_url":"https://api.github.com/users/ipa-fxm/followers","following_url":"https://api.github.com/users/ipa-fxm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm/orgs","repos_url":"https://api.github.com/users/ipa-fxm/repos","events_url":"https://api.github.com/users/ipa-fxm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm/received_events","type":"User","site_admin":false},"created_at":"2016-03-04T14:46:57Z","updated_at":"2016-03-04T14:46:57Z","body":"We were able to set `UM=2` persistently within ELMO controllers directly (is still set after shutdown and restart of robot)! Thus, the patch in cob_driver is not required anymore, PR for cob_robots is proposed."}}