Publish sensors tfs as static, and allow configuring odom frequency#202
Publish sensors tfs as static, and allow configuring odom frequency#202corot wants to merge 2 commits intostdr-simulator-ros-pkg:indigo-develfrom
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Thanks for your PR. I went ahead and created a review with some minor comments. It generally looks good; we would need to make some changes in the future to address the use case of a moving sensor (proposed by #201), but this is not in the scope of the current PR.
| tf::TransformBroadcaster _tfBroadcaster; | ||
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| //!< ROS tf2 static transform broadcaster | ||
| tf2_ros::StaticTransformBroadcaster static_broadcaster; |
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Prepend underscore to comply with the coding styleguide (I know it's ugly...).
| //we should not start the timer, until we have a motion controller | ||
| _tfTimer = n.createTimer( | ||
| ros::Duration(0.1), &Robot::publishTransforms, this, false, false); | ||
| ros::Duration(1.0/odometry_rate), &Robot::publishTransforms, this, false, false); |
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Could we put the default to 100Hz and not use the parameter? If you use the parameter you would need to check for division by zero. I also don't know what would be the computational impact if we increase to 100Hz though...
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Impact is small, I get similar same CPU usage (~85% vs. ~90% in my machine). What is normal as the function is quite light. But 50 Hz would be equally fine.
| getName(), | ||
| _sensors[i]->getFrameId())); | ||
| } | ||
| _odomPublisher.publish(odom); |
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In this function the same time can be used when publishing odometry and the pose tf, instead of ros::Time::now() twice, in order to avoid the issue that you mentioned in your ROS Answer.
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true. In fact, using the same timestamp also for the sensors made things better (though using static tf is much much better anyway and the reasonable thing to do)
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As explained in this ROS answer, the 10Hz at witch STDR publishes odom and sensors TFs causes important delays when processing sensor readings. So solution has two parts: