Tf frequency is too large

image description

Is this frequency of tf between /base_link and /laser normal? It is 10000HZ!!!

Asked by little_bob on 2017-06-02 03:08:31 UTC

Comments

The most common frequency of publishing TF is 100Hz

Asked by angeltop on 2017-06-02 04:12:39 UTC

It's probably a static transform, meaning it doesn't really have an update period. The rate shown there is (but I'm speculating a bit here) just an indication of 'very fast' or 'instantaneous'.

Asked by gvdhoorn on 2017-06-02 04:18:45 UTC

The most common frequency of publishing TF is 100Hz

I'm not sure that is really something that can be so generally stated. It's completely up to the application.

Asked by gvdhoorn on 2017-06-02 04:19:08 UTC

Then let me rephrase it. In my experience the most common frequency of static TF publishing is 100Hz. :)

Asked by angeltop on 2017-06-02 04:30:14 UTC

Thank you two friends! I got this.

Asked by little_bob on 2017-06-02 07:47:22 UTC

Answers

@gvdhoorn is right. Static transforms go through a separate mechanism and the 10000 Hz is a shorthand way/placeholder to display the information in the same context.

You can see the buffer length is also 0.0 and the most recent transform will get quite old, but it's accurate. An enhancement could be made to the tool to display the static transforms separately with a dedicated display type.

Asked by tfoote on 2018-06-22 13:53:19 UTC