How to reduce frame rate for kinect freenect_launch

asked 2017-11-07 19:44:23 -0500

michal gravatar image

Hello everyone,

I'd like to decrease tf frame rate for kinect I have. I'm using freenect_launch package and don't find how to decrease average rate to 10 [Hz]. I used tf static transform publisher as the following and nothing happens, it keeps at 10000 [Hz]. Almost everytime I'm mapping appears this warning.

   <node pkg="tf" type="static_transform_publisher" name="kinect_to_depth" args="0 0 0 0 0 0 \/camera_link camera_depth_frame 100" /> 

<node pkg="tf" type="static_transform_publisher" name="depth_to_optical" args="0 0 0 0 0 0 \/camera_depth_frame camera_depth_optical_frame 100" />

Warning: TF_OLD_DATA ignoring data from the past for frame camera_depth_optical_frame at time 1.5101e+09 according to authority unknown_publisher Possible reasons are listed at at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp

part of my tf tree

As you can see on my tf_tree, that's because of average rate. I've read TF_OLD_DATA troubleshooting without sucess. To me seems that is taking sim_time for kinect transform for freenect_launch.

bonus question: I think data transfer is slower than when I started mapping. There is somehow to clear data for topics and tf_frames?

Thank you so much!

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