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TF Transformation and flickering sensor data in rviz [closed]

asked 2014-06-23 06:22:59 -0600

MichaelW gravatar image


I´m using a sr4000 swissranger camera to get sensor data. The camera is connected by network with my workstation. The pointcloud of the sensor data I´m visualizing in rviz. To show the proper point of view I´m using the tf-package with the static_transform_publisher. The command line in my launch file looks somehow like this:

<node pkg="tf" type="static_transform_publisher" name="sr4000" args="-0.15 -0.052 2.41 0 -3.14 0 base_link sr4000_link 500"/>

Everything works fine, except of a flickering, that shows up every few seconds. It seems like the tf isn´t working at this moment, because the pointcloud shows up at it´s primarily orientation without tf. I know that the last value of the argument (here 500) sets the period how often to transform. In my case 500ms corresponds to 50hz of the camera. I´ve played around with this value, but the best results I got with values around zero. Sadly there I got also the flickering, but less often than with value 500.

Has anybody an idea how to get rid of this flickering?

Many Greetings Michael W.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-05-08 15:15:46.358922

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answered 2014-06-23 06:53:03 -0600

al-dev gravatar image

Hi MichaelW, if your problem is just to fix the flickering in the display, try increasing the "queue size" parameter of your point cloud object in rviz.

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I´ve tried already to increase the queue size, but it didn´t help. Any other suggestions?

MichaelW gravatar image MichaelW  ( 2014-06-23 16:29:49 -0600 )edit

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Asked: 2014-06-23 06:22:59 -0600

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Last updated: Jun 23 '14