status of point cloud generated by zed is keep switching between ok and Error

asked 2018-09-25 00:34:01 -0600

steven_truces gravatar image

I am using ros kinetic ubuntu 16.04 and latest Zed sdk and Zed ros wrapper. in rviz the status of point cloud generated by the topic /zed/point_cloud/cloud_registered in the fixed frame world is not stable and keep switching between ok and Error when it is showing error under status the transform shows: for frame [zed_left_camera_frame ] to frame [world].

I noticed that when i set the fixed frame to map the status of point cloud becomes stable and it is always ok. I think this problem regarding tf and delay in transition between map and world. here is the output for tf chain :

Chain is: map -> odom -> zed_camera_center -> zed_left_camera_frame -> world Net delay avg = 0.3 max = 0.7

any ideas on how to fix this tf error ?

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