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amcl / Laser scan matcher frequency

asked 2014-01-01 18:05:50 -0500

FuerteNewbie
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updated 2014-01-28 17:07:22 -0500

ngrennan
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Hi guys I have a question here.

This is a normal tf frames of amcl. image description

This is another where I have added extra node into it. image description

My question is, does the frequency of amcl and laser_scan_matcher affect the performance? If yes, how do I manipulate the frequency? If no, why?

This is the reason why I have two different frames result.

http://answers.ros.org/question/108751/amcl-laser-skipping-scan/?answer=108756#post-id-108756

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answered 2014-01-02 00:43:20 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

AMCL publishing to tf at >1 kHz certainly is not normal behavior and doesn´t make a lot of sense. Can you update your question with information on how you make it publish so fast? Such a high tf rate does not necessarily break anything, but it will cause higher CPU consumption due to the many messages that are sent around (and subscribed) on the /tf topic. This higher CPU consumption could lead to problems when maxing out the machine running the system.

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+ it doesn't gain any algorithmic performance as it only makes sense to update on new data (unless that arrives with 1kHz)

dornhege ( 2014-01-02 02:45:52 -0500 )edit

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Asked: 2014-01-01 18:05:50 -0500

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