Would you like to add that on answers.ros.org? If not, I can add it. On 12/10/2011 01:50 PM, Stefan Kohlbrecher wrote: > Hi, > > if you for example just want to monitor the estimated position of an > autonomous robot, using tf can mean significant overhead. Tf can > easily consume bandwidth in the order of hundreds of kb/s, which can > choke up connections in constrained scenarios (like RoboCup, where you > have thousands of people/hundreds of teams/1-2 dozen leagues competing > for Wi-Fi). An optional lower update rate tf topic for displaying the > robot model in rviz for example would make sense for such situations. > > regards, > Stefan > > 2011/12/9 Thibault Kruse: >> Hi, >> >> I am keen on reading an answer to this answers.ros.org question: >> http://answers.ros.org/question/2803/when-should-i-send-geometric-information-over-a >> "When should I send geometric information over a topic as opposed to TF?" >> >> I would think that TF is the best place to publish frames, meaning >> coordinate >> systems to be used as a point of reference for other geometric data. >> >> So this would be ideal for robot joints/links, sensor coordinate systems, >> and perceived joints/links of other agents (humans or robots). >> >> If possible, all those should rather be published in TF rather than anything >> else, I would believe. >> >> However I do not yet understand whether there is a downside to using TF, or >> some kind of degradation when plenty of frames are being published. >> >> The only thing I can think of is that rosbag and rxbag cannot treat >> individual >> transforms, they can only record / replay the whole tf tree. >> >> Also I guess that data with a lot of noise is not suitable as a reference >> frame >> for anything, so there is no point in publishing that in TF. >> >> Other thoughts? >> >> cheers, >> Thibault >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users