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2 votes
Accepted

Subscribe to geometry_msgs/TransformStamped (tf) Message with message_filters ApproximateTime subscriber

Based on what is described , you seem to missing a fundamental way in which the /tf tree in ROS should be used. Ideally you have use a tf listener to lookup transforms at a certain time, as long as ...
akchobby's user avatar
  • 118
1 vote
Accepted

Significant Degradation in SLAM Performance with Reduced LiDAR FoV

The solution could be found here. What improved the performance was following Steve's advice and change the following configuration parameters to the recomended value in the comment: ...
Arad's user avatar
  • 21
1 vote
Accepted

Separate your tf tree to have crucial frames update at a high frequency

tf2_server is the solution for ROS 1. It has several modes of working. In one, you can set a list of transforms of interest (or whole subtrees) and it will start publishing just the subtree on a ...
Martin Pecka's user avatar
1 vote

Which coordinate system should be used for local planning, odom or map?

It's not entirely clear what is going on with your robot, but I see two possible issues: When using the costmap_2d package, the local costmap is usually quite small (so that updates can be done ...
Mike Ferguson's user avatar
1 vote

How to remap tf publication of AMCL

Dmitry's solution should work, but it seems cleaner to me if you make the mux responsible for publishing the map->odom transform, and disable this feature in the ...
Mike973's user avatar
  • 936
1 vote

How to remap tf publication of AMCL

If you use navigation AMCL implementation, consider using the tf_broadcast param. It controls whether the broadcast happens or ...
Dmitry Klimenkov's user avatar
1 vote

euler_from_quaternion error when rpy is 0 90 0

RPY angles have a singularity for pitch values of 90° and -90°. This means that, for a given orientation that yields a pitch of 90°, it is not possible to uniquely define the roll and yaw angles. This ...
JRTG's user avatar
  • 1,974
1 vote

Inconsistent results from lookupTransform in tf

In quaternion space, the same rotation is represented by 2 values: q and -q (where -q means negating each term of q.) There is a more mathematical analysis in this question. So whatever bug you have, ...
Mike973's user avatar
  • 936
1 vote
Accepted

RViz2 seems to have problems with dynamic TF when visualizing sensor data

If you are using simulation, the ros time is the 'number of seconds since simulation start'. However, the timestamp in your error message is much too large ("time 1675148130.527") for that, ...
Mike973's user avatar
  • 936
1 vote

Robot_state_publisher don't publish on /tf topic

That error shows that amcl has crashed and is no longer running. That is where I would start your search. To that end you're not the first to experience this. There's an open bug issue at https://...
Tully's user avatar
  • 25.1k
1 vote
Accepted

Python's all tf frames function in ROS2 only returns some frames

The tf information is published from one of more nodes across the system. Because you are creating a fresh buffer with a new buffer you need to let it listen long enough that it will have heard from ...
Tully's user avatar
  • 25.1k

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