search

microsoft / Azure_Kinect_ROS_Driver

A ROS sensor driver for the Azure Kinect Developer Kit.
MIT License
295 stars 220 forks source link

TF Tree for Azure is not regulary updating #262

Open ndaley7 opened 1 year ago

ndaley7 commented 1 year ago

After initialization via the driver, the TF tree for the sensors on the kinect no longer updates. You can see the frame update times on the RQT screenshot that I have included.

To Reproduce Steps to reproduce the behavior:

  1. Start ROS Driver
  2. Attempt to subscribe to any of the TF topics in the below RQT screenshot after initialization

Expected behavior depth_camera_link, rgb_camera_link to be published at regular intervals

Logs I regularly get "image running behind" warnings, but I am not sure if that is releavant

Screenshots AzureKinectDriver TF Default

Desktop (please complete the following information):

Additional context Add any other context about the problem here.

ndaley7 commented 1 year ago

Seems like it might be an issue with the rate parameter here on line 967:

ros::Rate loop_rate(params_.fps);

https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/88614463b924b122f681ec093b3a46c7b3a2bb52/src/k4a_ros_device.cpp

ndaley7 commented 1 year ago

Rather than try and hunt down the parameters, im going to add the Azure transforms to the broadcast TF Script