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

asked 2021-09-20 06:59:44 -0500

pmuthu2s gravatar image

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:

``` 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?

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