Hello,
We're using `roslibpy` to capture `tf` messages from a robot via `rosbridge`, and rebroadcasting them on my local machine for viewing in `rviz`. So far, it works well, but I'd like to reduce bandwidth by lowering the message rate a little (we get them at about 10Hz). Setting the `rate` parameter in `TFClient` seems to have no effect. Here's the little `TFSub` class we're using:
class TFSub(object):
"""Manages a set of rosbridge callbacks associated with tfs
on a remote robot."""
def __init__(self, rosbridge_client):
self.tf_client = TFClient(rosbridge_client, fixed_frame='map',
angular_threshold=0.5,
translation_threshold=0.5,
rate=1.0)
self.tf_client.subscribe('odom', self.tf_map_odom_cb)
self.tf_client.subscribe('base_link', self.tf_map_base_link_cb)
self.tb = tf.TransformBroadcaster()
def tf_map_odom_cb(self, msg):
rospy.logdebug("got a map->odom transform.")
self.tb.sendTransform((msg['translation']['x'],
msg['translation']['y'],
msg['translation']['z']),
(msg['rotation']['x'],
msg['rotation']['y'],
msg['rotation']['z'],
msg['rotation']['w']),
rospy.Time.now(),
'odom',
'map')
def tf_map_base_link_cb(self, msg):
rospy.logdebug("got a map->base_link transform.")
self.tb.sendTransform((msg['translation']['x'],
msg['translation']['y'],
msg['translation']['z']),
(msg['rotation']['x'],
msg['rotation']['y'],
msg['rotation']['z'],
msg['rotation']['w']),
rospy.Time.now(),
'base_link',
'map')
Here's our invocation of `tf2_web_republisher`, running on the remote robot:
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