urdf in rviz lags
Hi,
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
Comments
Is your behavior similar to that described here: http://answers.ros.org/question/110/has-there-been-progress-for-urdf-transform-jitter ?
Eric Perko
(
2011-08-26 01:34:10 -0500
)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
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2011-08-26 02:17:30 -0500
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Is this over a wireless connection?
David Lu
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2011-08-26 02:48:09 -0500
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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
(
2011-08-26 03:47:47 -0500
)editadd a comment
