Map->odom 10.245 Hz Odom->Base 10.209 Hz Base->Laser 30.203 Hz (according to view_frames) Odom->base is being published from the B21 node, which also publishes joint states, which go through an aggregator node to the robot_state_publisher node, which publishes base->laser. I should note, I had been running these tests with only the B21 node on the robot, and the rest running on a different machine. Putting everything on the robot did lead to some success. -David!! On Thu, Apr 22, 2010 at 9:13 AM, Brian Gerkey wrote: > On Wed, Apr 21, 2010 at 6:11 PM, David Lu!! 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. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >