[ros-users] Flushing / resetting the TF buffer

Josh Faust jfaust at willowgarage.com
Wed Mar 3 18:09:47 UTC 2010

If you're looking to do it programmatically there's a clear() call on



On Wed, Mar 3, 2010 at 7:33 AM, Armin Hornung <
HornungA at informatik.uni-freiburg.de> wrote:

> Hi!
> Is there a way to flush or reset the TF buffer, i.e. clearing all
> transformations currently stored?
> A little background: I am using a method similar to the one in the
> "amcl" node to overcome the limitations from the tree-structure of TF.
> The robot model and all transformations to joints and sensors are in an
> "odom" frame, so when running localization I publish a transformation of
> the odometry frame in the map frame that results in the robot's
> base_frame ending up in the localized pose. To avoid timeouts I use the
> hack / workaround from the "amcl"-node and publish the tf to "odom" a
> little in the future. Now, when localizing from bag files (all times are
> with respect to the originally recorded data) it seems like coordinate
> frames are jumping back and forth sometimes, which I think results from
> TFs still being in the buffer from a previous run (through the same or a
> different log file). When there is a way of clearing the TF buffer, that
> would help when being called at the start of localization, without the
> need of restarting roscore.
> Cheers,
> Armin
> --
> Armin Hornung                              Albert-Ludwigs-Universität
> www.informatik.uni-freiburg.de/~hornunga<http://www.informatik.uni-freiburg.de/%7Ehornunga>  Dept. of Computer Science
> HornungA at informatik.uni-freiburg.de        Humanoid Robots Lab
> Tel.: +49 (0)761-203-8010                  Georges-Köhler-Allee 79
> Fax : +49 (0)761-203-8007                  D-79110 Freiburg, Germany
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