[ROS-2] Average rate of transform between the odom and the base link is slow.

[padhupradheep]

Hey,

I'm using the differential drive plugin to simulate a robot in ROS 2. The distro used is Rolling.

I wanted transform between the odom and the base_footprint of the robot, so I use the lookup transform from tf2. Eventually I was not able to determine it because of the warning I had:

"odom" passed to canTransform argument target_frame - frame does not exist

Note that I also had a waitTransform()! I further went a bit deep and I found that the transformation between the "odom" and the "base_link" is being published very slow. Here is the output of the tf2_monitor:

[INFO] [1631802573.358697219] [tf2_monitor_main]: Waiting for transform odom ->  base_footprint: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
Gathering data on odom -> base_footprint for 10 seconds...
RESULTS: for odom to base_footprint
Chain is: odom -> base_footprint
Net delay     avg = 3.10486e+08: max = 1.6318e+09

Frames:
Frame: base_footprint, published by <no authority available>, Average Delay: 1.6318e+09, Max Delay: 1.6318e+09

What could be the reason for it?

[omerts]

Adding to the above: You can see the average rate is 10.18, while the config update_rate is 100. This also causes EKF filter node to not have quick enough data.

[KenStonck]

I am facing the same issues with my setup. Have you been able to find a solution ?