robot_state_publisher frequency issue [closed]

asked 2013-09-13 08:49:48 -0600

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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

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-08-08 00:37:07.054878

Comments

The robot state publisher has a fixed rate independent of the individual joint states. Are you talking about that rate in your question.

sedwards gravatar imagesedwards ( 2013-09-15 09:10:27 -0600 )edit

I refer to the rate that is present in the parameter server

Enrico gravatar imageEnrico ( 2013-09-17 00:28:27 -0600 )edit