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

asked 2017-05-09 01:56:15 -0500

little_bob gravatar image

Can it be changed?

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answered 2017-05-09 16:30:49 -0500

tfoote gravatar image

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 gravatar image little_bob  ( 2017-05-09 21:33:49 -0500 )edit

answered 2017-05-09 02:37:28 -0500

rbbg gravatar image

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 gravatar image little_bob  ( 2017-05-09 09:58:47 -0500 )edit

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

little_bob gravatar image little_bob  ( 2017-05-09 09:59:27 -0500 )edit
little_bob gravatar image little_bob  ( 2017-05-09 10:06:16 -0500 )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.

tfoote gravatar image tfoote  ( 2017-05-09 16:29:28 -0500 )edit

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Asked: 2017-05-09 01:56:15 -0500

Seen: 1,747 times

Last updated: May 09 '17