[ros-users] Enquiry on amcl frequency

Brian Gerkey gerkey at willowgarage.com
Thu Nov 4 11:43:10 UTC 2010

On Thu, Nov 4, 2010 at 7:45 AM, ian_wk <i2rshuttle at gmail.com> wrote:
> I am getting a  frequency of 40+ Hz from my amcl node.
> --> rosrun tf view_frames
> /map --> /odom
> The average rate is 40.205 Hz.
> Is this normal and what is the effect of high/low frequency?
> Any way to change it?

hi Ian_wk,

amcl is clocked off the laser data that it receives; new transform
data is published on receipt of each laser message.  So I would guess
that you're using a Hokuyo TOP-URG, running at 40Hz.

If you'd like a way to set the publication frequency, open a ticket.


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