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Turtlebot wheel tf jumping

asked 2013-03-18 22:13:26 -0600

jihoonl

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I see TF from base_footprint to wheel links are slightly jumping when it is moving while sending Twist message( (-)0.5 x vel)) using teleop_twist_keyboard.

Has anyone seen this problem?

http://files.yujinrobot.com/turtlebot/wheel_jumping_turtlebot.ogv

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We are using Precise + Groovy here.

bit-pirate ( 2013-03-18 22:50:21 -0600 )edit

We also have tested with different robot_state_publisher publish_frequency. But it was not a slow update issue.

jihoonl ( 2013-03-18 23:13:29 -0600 )edit

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answered 2013-06-14 13:14:44 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

This looks like different timing. rviz by default renders the latest information about every link. There's an experimental button you could try at the bottom right (in the time bar) to see if it "fixes" it?

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Asked: 2013-03-18 22:13:26 -0600

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Last updated: Jun 14 '13

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Turtlebot wheel tf jumping