Closed narutojxl closed 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.
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.
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](https://user-images.githubusercontent.com/6205343/147202026-70b01861-1ecc-464d-8239-0b54bfa63d8b.png)
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!