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 <
gerkey@willowgarage.com>wrote:
> 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.
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