Document controller transform staleness threshold - #954
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Signed-off-by: Marco Matteo Bassa <bassamarco91@gmail.com>
SteveMacenski
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SteveMacenski
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Lets leave this open as we discuss next steps with your PR, which may include a utility and expanding the use of this param to other locales
| ros__parameters: | ||
| controller_frequency: 20.0 | ||
| costmap_update_timeout: 0.3 | ||
| transform_staleness_threshold: 1.0 |
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| transform_staleness_threshold: 1.0 | |
| transform_staleness_threshold: 0.0 |
Please copy paste these to start off with, setting this to something that low is not a sane general default I don't think
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The default is 0, these are just suggestions/examples, right? It's the same default value as AMCL's transform_tolerance, so 1.0 or a tiny bit more is what I'd set this to unless dealing with a very laggy system. Why would we suggest to have no check? :)
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I think increasing this then, I think 1.0 would trip sometimes and be an annoying ghost in the system for users. How about 3.0?
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Basic Info
Documents the new transform_staleness_threshold parameter in the controller server.