ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

The robot_state_publisher publishes the TF tree whenever a joint state message is received. For non-fixed joints, the time stamps of the TF transforms are set to the joint state message's stamp.

The publish_frequency specifies how often transforms for fixed joints should be published. A rate of 2Hz might be a little small, the default is 50Hz and should be fine. When fixed joint transforms are published, all transforms have the same time stamp (current time + 0.5 seconds).