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 | 1 | initial version |
In order to determine the global pose of the detected object, I would have to transform the object's relative pose to camera/robot using the pose of the robot [..] Now I'll have to grab the robot's pose topic information from 10-20ms in the past for accurate calculation.
Wouldn't TF do this for you automatically?
Basically I want to sync the topics which have different refresh rates and delays. What is the best way to do this in ROS?
I feel this is not really your issue, but this is typically done using the ApproximateTime filter from the message_filters package.
| | 2 | No.2 Revision |
In order to determine the global pose of the detected object, I would have to transform the object's relative pose to camera/robot using the pose of the robot [..] Now I'll have to grab the robot's pose topic information from 10-20ms in the past for accurate calculation.
Wouldn't TF do this for you automatically?automatically (provided the timestamp on the detected objects is set to the timestamp of the image that formed the input to your detection algorithm)?
Basically I want to sync the topics which have different refresh rates and delays. What is the best way to do this in ROS?
I feel this is not really your issue, but this is typically done using the ApproximateTime filter from the message_filters package.
| | 3 | No.3 Revision |
In order to determine the global pose of the detected object, I would have to transform the object's relative pose to camera/robot using the pose of the robot [..] Now I'll have to grab the robot's pose topic information from 10-20ms in the past for accurate calculation.
Wouldn't TF do this for you automatically (provided the timestamp on the detected objects is set to the timestamp of the image that formed the input to your detection algorithm)?algorithm)? See the Time travel with tf2 tutorial (Python or C++).
Basically I want to sync the topics which have different refresh rates and delays. What is the best way to do this in ROS?
I feel this is not really your issue, but this is typically done using the ApproximateTime filter from the message_filters package.
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