On Wed, Apr 21, 2010 at 6:11 PM, David Lu!! <davidvlu@gmail.com> wrote:

> tf view_frames shows everything connected. The most concerning part is that
> the map->odom and odom->base transforms are 1.564 sec old.
> The problem remains that setting the pose in nav_view does not actually
> change the pose. The laser scans are now showing up as obstacles around the
> robot's footprint, but that footprint is in the wrong spot. I've solved that
> by making transform_tolerance: 10 on the costmaps. That doesn't quite seem
> like the right approach. How else can I speed up my tfs?

hi David,

How are you publishing the odom->base and base->laser transforms?  If
one or both of them is being published too slowly, it could lead to
the problems that you're seeing.

	brian.