Done (with minor changes) :) regards, Stefan 2011/12/10 Thibault Kruse : > 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 > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users