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Tf frequency is too large

asked 2017-06-02 03:08:31 -0500

little_bob gravatar image

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Is this frequency of tf between /base_link and /laser normal? It is 10000HZ!!!

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The most common frequency of publishing TF is 100Hz

angeltop gravatar image angeltop  ( 2017-06-02 04:12:39 -0500 )edit

It's probably a static transform, meaning it doesn't really have an update period. The rate shown there is (but I'm speculating a bit here) just an indication of 'very fast' or 'instantaneous'.

gvdhoorn gravatar image gvdhoorn  ( 2017-06-02 04:18:45 -0500 )edit
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The most common frequency of publishing TF is 100Hz

I'm not sure that is really something that can be so generally stated. It's completely up to the application.

gvdhoorn gravatar image gvdhoorn  ( 2017-06-02 04:19:08 -0500 )edit

Then let me rephrase it. In my experience the most common frequency of static TF publishing is 100Hz. :)

angeltop gravatar image angeltop  ( 2017-06-02 04:30:14 -0500 )edit

Thank you two friends! I got this.

little_bob gravatar image little_bob  ( 2017-06-02 07:47:22 -0500 )edit

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answered 2018-06-22 13:53:19 -0500

tfoote gravatar image

@gvdhoorn is right. Static transforms go through a separate mechanism and the 10000 Hz is a shorthand way/placeholder to display the information in the same context.

You can see the buffer length is also 0.0 and the most recent transform will get quite old, but it's accurate. An enhancement could be made to the tool to display the static transforms separately with a dedicated display type.

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Asked: 2017-06-02 03:08:31 -0500

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Last updated: Jun 22 '18