Ground Truth TF's slow after update

[dan-riley]

Since updating to the latest Ignition and SubT versions (as detailed in the update page), enableGroundTruth is essentially broken. We have tried several different robot models, and they all publish extremely slow TF's (around 0.5-1hz it seems) and there seems to be some other massive cpu or memory usage happening. When running with ground truth off everything runs as it did before. I'm not sure which update caused the change, but we're seeing it on multiple machines.

[acschang]

The issue is that the transform for ground truth was moved to the static TF topic and thus is bound by the static_update_frequency. When using ground truth for testing, I update the <static_update_frequency>1</static_update_frequency> parameter in cave_circuit.ign or the submitted model's spawner.rb file to be significantly higher.

Please let me know whether or not this works for you. In the future the ground truth transform should be moved off of the static TF topic.

[nkoenig]

@dan-riley , did @acschang answer solve your problem?

[dan-riley]

@nkoenig Yes, this seems to work. We used 50hz. I agree that it should probably be moved off of the static TF.

[peci1]

Solution proposed in #759.