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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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robot_state_publisher hz #101

Closed narutojxl closed 2 years ago

narutojxl commented 2 years ago

Hi author, When i launch mir_robot, i see the robot_state_publisher hz is very big, e.g. 10000. The latest transform is 11.09 s old. Screenshot from 2021-12-23 15-03-49

Adding publish_frequency does not take affect according to ros wiki robot_state_publisher, so how to do to modify the published static tf frequency, thanks for your help and time!

mintar commented 2 years ago

Don't worry. When rqt_tf_tree shows a publishing frequency of 10000, what that really means is that this is a static transform that is published on the tf_static topic (not the normal tf topic). Static transforms are only published once.You can check with "rostopic hz tf" that it's not really 10000 Hz.

narutojxl commented 2 years ago

Thanks author very fast reply, rostopic hz /tf is about 32 hz when publish_frequency = 50, and rostopic hz /tf is 25 hz when when publish_frequency = 30. Maybe because some other system load, the actual frequency is not the expected frequency. Thanks again.