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I want to use tf broadcaster to move arms in rviz, but the rate of robot_state_publisher is 10Hz, which cause lag in simulation. I want to know how to fix that.
I use rosrun tf view_frames to check the rate.
I try to add <param name="rate" value="1000"/> in my launch file and it seems better now.
The robot_state_publisher rate becomes nearly 50Hz.
You should not use the robot_state_publisher to drive something. As the name suggests, this publishes the state of the robot, (quote)
robot_state_publisheruses the URDF specified by the parameterrobot_descriptionand the joint positions from the topicjoint_statesto calculate the forward kinematics of the robot and publish the results viatf.
To drive the robot arm you need to use a controller. The arms joints send their state then to the robot_state_publisher which again translates that to tf.
There is, however, a parameter publish_frequency that should let you specify the frequency of the robot_state_publisher. Default is 50Hz.
I run the "rosrun tf view_frames" and find that the robot _state_publisher rate is only 10Hz.
Asked: 2018-06-29 07:17:55 -0500
Seen: 1,018 times
Last updated: Jun 29 '18
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