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Setting up static_transform_publisher arguments

asked 2016-02-19 09:53:00 -0500

kiranb222 gravatar image

updated 2016-02-19 09:58:48 -0500


I am running hector_slam with the logged data which is not in .bag format. I wrote a node to fetch the data required by the "scan" topic and to publish the "scan" data at a rate of 10Hz(by looping at a rate of 10Hz) with the frame id "laser" with the help of this tutorial. As I don't have any tf data, I am using static_tf_publisher to publish the static transform from "laser" frame to "base_link" as suggested here.

I am using low range, low scan rate sensor(URG-04LX_UG01 with 4m range and scan rate of 10Hz). My question is at which rate should I publish the static transform so that I don't miss any frame(s). Do I have to publish the tf at a higher rate than the publish rate of "scan" to account for the possible timing overhead due to the data reading from the logfile? Am I good to go with the below static transform settings ? (The laser scanner is placed with an offset of 0.07 facing backwards).

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="-0.07 0 0 3.14159 0 0 base_link laser 100" />

Thanks in advance

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answered 2016-02-20 10:54:44 -0500

gvdhoorn gravatar image

My question is at which rate should I publish the static transform so that I don't miss any frame(s).

Can you tell us why you believe there is a correlation between the frequency at which you publish a (static) TF frame and your laser scans? TF will interpolate if necessary, so it should be fine.

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I am beginner in ROS and was not aware of the tf interpolation. This answered my question. Thank you.

kiranb222 gravatar image kiranb222  ( 2016-02-22 03:24:34 -0500 )edit

Seeing as this is a static transform it won't matter that much, but in general 'often enough' wrt the rest of your TF tree is a good rule of thumb. There will probably be situations in which a lower or higher frequency can be desirable, but for static transforms it doesn't matter too much I'd think.

gvdhoorn gravatar image gvdhoorn  ( 2016-02-22 03:29:46 -0500 )edit

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Asked: 2016-02-19 09:53:00 -0500

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Last updated: Feb 19 '16