Re: Can't set wait_for_transform_duration

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-t-set-wait-for-transform-duration-tp9024p9054.html

Is odom TF published faster than 10 Hz? By default odometry is waiting 100 ms to gt the tf, otherwise it shows that warning. "wait_for_transform_duration" would be set as private parameter of the odometry node. For example:

<node pkg="rtabmap_ros" type="rgbd_odometry"  name="rgbd_odometry" >
  <param name="guess_frame_id" value="wheel_odom"/>
  <param name="wait_for_transform_duration" value="1.0"/>
</node>

In the code, the warning is logged here, and wait_for_transform_duration is read here from rosparam.