robot_state_publisher frequency issue
Hi all, I am working with a humanoid robot and I have my urdf description of it. I have the robot state publisher that takes that description and publish on the tf all the reference frames but the publish frequency is somehow strange: all the fixed ref frames are published with a rate of 250 Hz (the value that I have set in the launch file) while moving ref frames are published at 50 Hz. I am taking the joints data from my robot with a xddp_socket and I have a package that read that socket and publish the data inside ROS at 250 Hz.
Thank you for your help,
Enrico
Asked by Enrico on 2013-09-13 08:49:48 UTC
Comments
The robot state publisher has a fixed rate independent of the individual joint states. Are you talking about that rate in your question.
Asked by sedwards on 2013-09-15 09:10:27 UTC
I refer to the rate that is present in the parameter server
Asked by Enrico on 2013-09-17 00:28:27 UTC