How to reduce frame rate for kinect freenect_launch
Hello everyone,
I'd like to decrease tf frame rate for kinect I have. I'm using freenect_launch package and don't find how to decrease average rate to 10 [Hz]. I used tf static transform publisher as the following and nothing happens, it keeps at 10000 [Hz]. Almost everytime I'm mapping appears this warning.
<node pkg="tf" type="static_transform_publisher" name="kinect_to_depth" args="0 0 0 0 0 0 \/camera_link camera_depth_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="depth_to_optical" args="0 0 0 0 0 0 \/camera_depth_frame camera_depth_optical_frame 100" />
Warning: TFOLDDATA ignoring data from the past for frame cameradepthopticalframe at time 1.5101e+09 according to authority unknownpublisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp
As you can see on my tftree, that's because of average rate. I've read TFOLDDATA troubleshooting without sucess. To me seems that is taking simtime for kinect transform for freenect_launch.
bonus question: I think data transfer is slower than when I started mapping. There is somehow to clear data for topics and tf_frames?
Thank you so much!
Asked by michal on 2017-11-07 20:35:27 UTC
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