What's the default frequency of tf.Broadcaster?Is it 60HZ?
Can it be changed?
add a comment
The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
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.
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
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.
I do all these according to this broadcaster This method tf.TransformBroadcaster().sendTransform() seems not assigned a default_frequency
Asked: 2017-05-09 01:56:15 -0500
Seen: 1,710 times
Last updated: May 09 '17
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
