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RGBDSLAM - Slow transform pub‏lishing

asked 2014-09-11 07:05:27 -0500

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Hi there,

I have the RGBD SLAM v2 package ( ) running on a Core i7 computer with a Nvidia GTX 780 graphics card. The computer runs Ubuntu 12.04.5 and ROS Hydro.

I want to use the package for robot localization, but it seems like I'm getting a too low pub rate of the transform.

In my launch file I have:

<node pkg="tf" type="static_transform_publisher" name="map_to_local_origin" output="screen" args="0 0 0 0 0 0 /map /local_origin 10" />
<node pkg="tf" type="static_transform_publisher" name="mav_to_camera" output="screen" args="-0.05 0.15 0.8 0 1.570796 0 vision camera_link 10" />

which are transforms that I need to exist for sending the pose estimation for the robot. I also have:

 <!-- TF information settings -->
    <param name="config/fixed_frame_name"              value="/map"/>
    <param name="config/ground_truth_frame_name"       value=""/><!--empty string if no ground truth-->
    <param name="config/base_frame_name"               value="vision"/> <!-- /openni_camera for hand-held kinect. For robot, e.g., /base_link -->
    <param name="config/fixed_camera"                  value="false"/> <!--is the kinect fixed with respect to base, or can it be moved (false makes sense only if transform betw. base_frame and openni_camera is sent via tf)-->

where 'vision' is considered the base of the robot. 'till now everything is ok. The problem comes when I run the package and start processing. Using the tf view_frames, I can check the following on the tf tree:

Broadcaster: /rgbdslam
Average rate: 10000.000 Hz
Most recent transform: 1409946186.276
Buffer length: 0.000 sec

which for sure is not right, given that as said in the tf transform is being sent at a 10Hz rate supposedly, which I know it can be less, but less can't be what is in the following: (Issuing 'rosrun tf tf_monitor')

Node: /rgbdslam 0.202653 Hz, Average Delay: 1.97535 Max Delay: 11.3705

Which is extremely slow! Does someone has a tip for what is happening or why is it so slow?

Thanks in advance!

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Hi, I have the same problem, using ros indigo dist. Some tf pubs seems to have 10000 HZ frecuency although I publish them at 10 HZ. Could you solve your problem? How did you solve it? Thanks.

msandertar gravatar image msandertar  ( 2015-05-09 08:33:43 -0500 )edit

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answered 2015-05-10 15:31:13 -0500

tfoote gravatar image

Statistics on static transforms may be a problem. I don't think the statistics calculations have been updated since static transforms were introduce. Static transforms are published only once on a latched topics and republish only on change, but they are always queryable. Thus depending on the detection method they may report very slow or very fast.

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Asked: 2014-09-11 07:05:27 -0500

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Last updated: May 10 '15