What's the default frequency of tf.Broadcaster?Is it 60HZ?

tf

asked 2017-05-09 01:56:15 -0600

little_bob
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Can it be changed?

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answered 2017-05-09 16:30:49 -0600

tfoote

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If you're following the linked tutorial. You'll note that sendTransform is called inside every callback. So the transforms will be sent with the frequency at which the handle_turtle_pose callback is invoked. Thus you will want to look upstream and see how often that is being published.

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thanks you very much

little_bob ( 2017-05-09 21:33:49 -0600 )edit

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answered 2017-05-09 02:37:28 -0600

rbbg
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Can you be a little more specific? Are you talking about tf or tf2? C++ or Python interface? Or the command line tool? In any case there isn't really a default publishing frequency. Static transforms use a latched topic (in tf2, at least) and for normal transforms the publish frequency is controlled by how often you actually send a transform. I suggest you read through the tf2 tutorials, they are quite informative. The static_transform_publisher of the (deprecated) tf package does allow you to specify a publishing frequency, but tf2 is the recommended package.

Hope that helps

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tf Python.Thanks I'll have a try.But when I receive transforms,I use rospy.Rate(10).sleep(), I think the frequency should be 10hz.But when I rosrun tf view_frammes, It shows 'turtle2_broadcaster' and 'turtle1_broadcaster''s frequency shows nearly 60HZ.

little_bob ( 2017-05-09 09:58:47 -0600 )edit

I do all these according to this broadcaster This method tf.TransformBroadcaster().sendTransform() seems not assigned a default_frequency

little_bob ( 2017-05-09 09:59:27 -0600 )edit

listener

little_bob ( 2017-05-09 10:06:16 -0600 )edit

Please edit your question to add these details and possibly a screen shot or copy and paste of your console output that you're seeing.