Hey everyone

After my mail yesterday I have tried to dig through the code and also looked into the fixed timestep, dt, since a Kalman filter needs a fixed timestep for its prediction step. 
But I have noticed that the command "robot.Read()" has a very long and very uncertain delay which is found to be between 70 to 115 ms.

- How can it be that the "Read()" command takes such a huge amount of time.
- Is it possible to use a different approach that is more stable? "ReadIfWaiting" is also producing some very unstable results in its process time.

Regards

Sebastian Aslund