[ros-users] topic vs tf

[Stefan Kohlbrecher]

Done (with minor changes) :)

regards,
Stefan

2011/12/10 Thibault Kruse <kruset at in.tum.de>:
> 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<kruset at in.tum.de>:
>>>
>>> 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
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>>
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