ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Flickering laser scan data after static tf setup

asked 2013-10-16 10:55:37 -0500

micpalmia gravatar image

updated 2013-10-16 12:14:12 -0500

My Gazebo model, written in Xacro, makes use of an Hokuyo laser scanner through the plugin. Even though I specified a value for the frameName property, this plugin doesn't automatically publishes a transform from base_link to the frame I just specified. As the planar controller is automatically publishing the transformation of odom to base_link, I cannot understand why the laser scanner controller is not doing so.

I tried to manually specify a static transform publisher and everything seems to work, apart for the fact that when I try to visualize the scanner data in rviz, it flickers between the position it was in before I specified the transform and the one in which I _transported_ it. They only differ a tiny little, but it is enough to notice, and I definitely don't think it is something healthy for my system.

I think it's something related to the difference in frequency between the transform publication and the laser data publication, but even setting both to 40ms nothing changes. I also cannot understand how rviz establishes how to display the laser data if I don't specify any transformation (because yes, it does).

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2014-08-09 05:03:16 -0500

zumili gravatar image

I know this question is some month old, but I have a similar problem. I have also created an urdf model with a continuous joint and I want to rotate a link. Its working with an tf::TransformBroadcaster but like micpalmia said its flickering between its original pose and the pose set by the tf::TransformBroadcaster.

So has anybody any solution for this. It seems thats its just a little mistake we make, but I don't get it.

Best regards, zumili

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2013-10-16 10:55:37 -0500

Seen: 694 times

Last updated: Aug 09 '14