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urdf in rviz lags

asked 2011-08-26 01:07:29 -0600

Nick Armstrong-Crews gravatar image

updated 2011-08-26 02:17:59 -0600


I am seeing my urdf model, and all tf frames specified by robot_state_publisher, lag behind the actual robot motion (which the transform /odom->/base_footprint appears to track perfectly). The lag is around 5 seconds.

I have also tried with a simplified .urdf model that uses only fixed joints (and thus removes /joint_state publications as a potential cause). No help.

I have set the ~publish_frequency param of robot_state_publisher to 10 hz, and I have a static_transform_publisher publishing at 10 hz to link the top-level urdf frame (/chassis) to the /base_footprint frame published by the rest of the localization system.

Any bright ideas? Thanks!

PS - using diamondback and Ubuntu 10.10

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Eric Perko gravatar image Eric Perko  ( 2011-08-26 01:34:10 -0600 )edit
Thanks for pointer, but... Nope, I actually think my problem might be a direct result of the fix described there; all elements of my robot model move together atomically, and all with the same 5-second lag. I suppose I should double-check tf pub rates with tf_monitor...
Nick Armstrong-Crews gravatar image Nick Armstrong-Crews  ( 2011-08-26 02:17:30 -0600 )edit
Is this over a wireless connection?
David Lu gravatar image David Lu  ( 2011-08-26 02:48:09 -0600 )edit
Is all running on the same machine, or are parts running on a laptop attached to a robot? Are all involved clocks in sync (ntp)?
AHornung gravatar image AHornung  ( 2011-08-26 03:47:47 -0600 )edit

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answered 2011-08-26 08:18:52 -0600

Nick Armstrong-Crews gravatar image

Yup, good suggestions! Indeed, I am operating over wifi, and today I don't see the problem (after machines have power cycled and been connected to the internet).

Diagnosis: must have been a time sync issue.


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I also want to note that it didn't matter on which machine I ran robot_state_publisher; as long as at least one node is listening to /tf topic on each machine, all those transforms get published and sent over the wire and timestamps compared. So this stymied my initial debug efforts. Watch out!
Nick Armstrong-Crews gravatar image Nick Armstrong-Crews  ( 2011-08-26 08:22:58 -0600 )edit

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Asked: 2011-08-26 01:07:29 -0600

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Last updated: Aug 26 '11