Large TF delay in odom to map transform

iris-ua / iris_lama_ros

LaMa on ROS

BSD 3-Clause "New" or "Revised" License

208 stars 59 forks source link

Large TF delay in odom to map transform #42

Closed JordySehn closed 3 years ago

JordySehn commented 3 years ago

First of all, great package!

So far (in simulation) I am getting very good localization results compared to amcl on our robot.

I did notice though that the transform delay from the odom to map transform seems unusually high to me? Using tf_monitor I get about 0.4 seconds average delay from odom -> map.

In contrast, amcl seems to only have a delay of about 0.1 seconds or so. Any idea why this would be? Have other people noticed similar transform delays?

JordySehn commented 3 years ago

ahh you know what, the problem was just the transform tolerance parameter was set too low for me.

Bumping it up a tad brought the delay way down. Thanks!

eupedrosa commented 3 years ago

Glad I could help :smile:

Combinacijus commented 3 years ago

TF delay could also happen if you built from source in with a Debug flag it's drastically slower than using Release flag