[ros-users] URDF Jitter in RVIZ

[Josh Faust]

rviz displays each link at the very latest transform available for that link
-- what's happening is you get an odom -> base_link transform slightly
before all the rest of the joint transforms arrive.  We've talked about
fixing this for the Robot Model display by finding the common latest time
across all the links, but it's not implemented.

Josh

On Thu, Dec 16, 2010 at 8:23 PM, Chad Rockey <chadrockey at gmail.com> wrote:

> So I have been following the really nice (R2D2) tutorials on URDF, thanks a
> lot for those!  I've managed to get our robot model into RVIZ and follow
> base_link, but the transforms on the URDF besides base_link all seem to time
> lag, causing some jittery looking motion:
>
> http://www.youtube.com/watch?v=GiQUc8FG6m8
>
> We originally noticed that the static TFs defaulted publishing
> from joint_state_publisher at 10Hz, so we set it to 100Hz.  This upped the
> maximum rate published to that of our base_link (~50Hz from our odom
> source), but this is what you see in the video.
>
> The model does not jitter in RVIZ if the target and fixed frame are set to
> base_link, but does jitter when fixed frame is odom.
>
> We are playing data from a recorded bag file using --clock and have set
> use_sim_time to true.
>
> I've attached a copy of the xacro file I use to generate our urdf in case
> I've made a mistake in there.
>
> Thanks,
>  - Chad
>
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