Fix frame jitter by splitting map and fixed-frame transforms

CHANGELOG.rst

@@ -4,6 +4,7 @@ Changelog for package rviz_satellite
 
 Forthcoming
 -----------
+* Fix frame jitter by splitting map and fixed-frame transforms (#56)
 * Cleanup cmake (#70)
 * Remove NED and NWU frame conversion options
 

launch/demo.launch

@@ -6,5 +6,5 @@
     <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rviz_satellite)/launch/demo.rviz"/>
 
     <!-- Static fake TF transform -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_fake" args="0 0 0 0 0 0 map base_link" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_fake" args="100 200 5 0.3 0 0 map base_link" />
 </launch>

launch/demo.rviz

@@ -7,9 +7,10 @@ Panels:
         - /Global Options1
         - /Status1
         - /AerialMapDisplay1
-        - /Axes1
+        - /TF1
+        - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 1113
+    Tree Height: 787
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -18,7 +19,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -29,6 +30,10 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -40,18 +45,33 @@ Visualization Manager:
       Name: AerialMapDisplay
       Object URI: https://maps.wikimedia.org/osm-intl/{z}/{x}/{y}.png
       Topic: /gps/fix
+      Value: true
       Zoom: 18
-    - Class: rviz/Axes
+    - Class: rviz/TF
       Enabled: true
-      Length: 50
-      Name: Axes
-      Radius: 3
-      Reference Frame: base_link
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        map:
+          Value: true
+      Marker Scale: 200
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          base_link:
+            {}
+      Update Interval: 0
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Default Light: true
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -62,7 +82,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -72,40 +95,41 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 831.019775
+      Distance: 602.28759765625
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 24.3793087
-        Y: 47.1424103
-        Z: 18.1101055
+        X: 106.2084732055664
+        Y: 175.504150390625
+        Z: -3.3551697731018066
       Focal Shape Fixed Size: false
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.995398164
-      Target Frame: <Fixed Frame>
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6347975730895996
+      Target Frame: map
       Value: Orbit (rviz)
-      Yaw: 5.15857887
+      Yaw: 4.8935699462890625
     Saved: ~
 Window Geometry:
-  "&Displays":
-    collapsed: false
-  "&Time":
-    collapsed: false
-  "&Views":
+  Displays:
     collapsed: false
-  Height: 1135
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000191000003b7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006c01000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000003b7000000e301000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000003b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000003b7000000c601000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d00650100000000000007800000025e01000003fb0000000800540069006d00650100000000000004500000000000000000000004dd000003b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001910000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001100000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000004cfc0100000002fb0000000800540069006d006500000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004900000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
+  Time:
+    collapsed: false
   Tool Properties:
     collapsed: false
-  Width: 1920
-  X: 0
-  Y: 36
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 27