rviz path localization update

asked 2016-09-19 16:27:19 -0500

aerydna gravatar image

I to you all, i'm pretty new to to Ros and rviz and i'm not a native english speaker so i'll try my best to explain my question.

I have my own navigation module and i think that can be usefull to publish some path information to be displayed in a path channel in rviz. therefore I have my function that publish a path message with an array of point (pose messages) in it. both the path message and the poses have the robot frame in the header's frame_id parameter cause i want the poses to be expressed in the robot's coordinate system.

now everythings works fine exept one thing. the single poses are updated frequently but the Whole path is not. i'll explain better: the shape of the path change along with the messages but the position of the Whole path alins with the robots every 3/4 second (instead of following him costantly). it's seems like rviz compute the transformation from the tf very slowly.

what can i do about it? tha only solution i've thought to is to draw the path in the map coordinate system to avoid the problem. there are other solution? am i doing something wrong?

thanks in advance

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What are you using for your fixed frame? Try changing the fixed frame to be the highest level tf frame. The other possibility is that the one of the transforms are being published infrequently. tf will not extrapolate, but it will interpolate.

William gravatar image William  ( 2016-09-19 16:45:43 -0500 )edit

i'm already using the highest tf as fixed frame (map). For the transform frequency i checked with rqt and the value is around 200 Hz. is it enough?

aerydna gravatar image aerydna  ( 2016-09-20 03:00:58 -0500 )edit