TF Transformation and flickering sensor data in rviz [closed]
Hello,
I´m using a sr4000 swissranger camera to get sensor data. The camera is connected by network with my workstation. The pointcloud of the sensor data I´m visualizing in rviz. To show the proper point of view I´m using the tf-package with the static_transform_publisher. The command line in my launch file looks somehow like this:
<node pkg="tf" type="static_transform_publisher" name="sr4000" args="-0.15 -0.052 2.41 0 -3.14 0 base_link sr4000_link 500"/>
Everything works fine, except of a flickering, that shows up every few seconds. It seems like the tf isn´t working at this moment, because the pointcloud shows up at it´s primarily orientation without tf. I know that the last value of the argument (here 500) sets the period how often to transform. In my case 500ms corresponds to 50hz of the camera. I´ve played around with this value, but the best results I got with values around zero. Sadly there I got also the flickering, but less often than with value 500.
Has anybody an idea how to get rid of this flickering?
Many Greetings Michael W.
