How to fix 'Transform unavailable Lookup would require extrapolation into the past' problem?
I follow this doc pr22dnavslam.
And I run:
roslaunch pr2_gazebo pr2_empty_world.launch
rosrun pr2_tuckarm tuck_arms.py -r t -l t
export ROBOT=sim
roslaunch pr2_2dnav_slam pr2_2dnav.launch
It showed the error:
[ INFO] [1328163767.516021578, 6.900000000]: Self see link name base_link padding 0.01
-maxUrange 16 -maxUrange 9.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
-srr 0.01 -srt 0.02 -str 0.01 -stt 0.02
-linearUpdate 0.5 -angularUpdate 0.436 -resampleThreshold 0.5
-xmin -50 -xmax 50 -ymin -50 -ymax 50 -delta 0.05 -particles 80
[ INFO] [1328163768.040982527, 7.052000000]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0.000151543 -1.3232e-07 -0.000122521
m_count 0
Registering First Scan
[ERROR] [1328163769.108724810, 7.251000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.051000000 but the earliest data is at time 7.220000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ WARN] [1328163769.116421651, 7.251000000]: MessageFilter [target=/r_shoulder_pan_link /l_shoulder_pan_link /l_upper_arm_link /l_upper_arm_link /r_upper_arm_link /r_shoulder_lift_link /l_shoulder_lift_link /r_forearm_link /l_forearm_link /r_elbow_flex_link /l_elbow_flex_link /l_gripper_palm_link /r_gripper_palm_link /r_forearm_roll_link /l_forearm_roll_link /l_upper_arm_roll_link /l_upper_arm_roll_link /r_upper_arm_roll_link /l_gripper_r_finger_link /l_gripper_l_finger_link /r_gripper_l_finger_link /r_gripper_r_finger_link /r_wrist_flex_link /l_wrist_flex_link /l_gripper_r_finger_tip_link /l_gripper_l_finger_tip_link /r_gripper_l_finger_tip_link /r_gripper_r_finger_tip_link /r_wrist_roll_link /l_wrist_roll_link ]: Discarding message from [/base_shadow_filter] due to empty frame_id. This message will only print once.
[ERROR] [1328163769.148975500, 7.264000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.001000000 but the earliest data is at time 7.200000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ WARN] [1328163769.149285037, 7.251000000]: MessageFilter [target=/base_link /r_shoulder_pan_link /l_shoulder_pan_link /l_upper_arm_link /r_upper_arm_link /l_upper_arm_link /r_shoulder_lift_link /l_shoulder_lift_link /r_forearm_link /l_forearm_link /r_elbow_flex_link /l_elbow_flex_link /l_gripper_palm_link /r_gripper_palm_link /l_forearm_roll_link /r_forearm_roll_link /l_upper_arm_roll_link /l_upper_arm_roll_link /r_upper_arm_roll_link /l_gripper_r_finger_link /r_gripper_r_finger_link /r_gripper_l_finger_link /l_gripper_l_finger_link /r_wrist_flex_link /l_wrist_flex_link /r_gripper_l_finger_tip_link /r_gripper_r_finger_tip_link /l_gripper_l_finger_tip_link /l_gripper_r_finger_tip_link /r_wrist_roll_link /l_wrist_roll_link ]: Discarding message from [/tilt_shadow_filter] due to empty frame_id. This message will only print once.
[ERROR] [1328163769.888125008, 7.451000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.101000000 but the earliest data is at time 7.220000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1328163769.990134966, 7.469000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.026000000 but the earliest data is at time 7.200000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1328163770.709514177, 7.651000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.151000000 but the earliest data is at time 7.220000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1328163770.822989226, 7.693000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.051000000 but the earliest data is at time 7.200000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1328163771.430320613, 7.851000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.201000000 but the earliest data is at time 7.220000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ WARN] [1328163771.438618105, 7.851000000]: Message from [/base_shadow_filter] has a non-fully-qualified frame_id [base_footprint]. Resolved locally to [/base_footprint]. This is will likely not work in multi-robot systems. This message will only print once.
[ERROR] [1328163771.673734716, 7.893000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.076000000 but the earliest data is at time 7.200000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1328163772.507451111, 8.098000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.101000000 but the earliest data is at time 7.200000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1328163773.146775719, 8.301000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.126000000 but the earliest data is at time 7.200000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1328163773.938991116, 8.501000000]: Transform unavailable Lookup would require extrapolation into the past. Requested time 7.151000000 but the earliest data is at time 7.200000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ WARN] [1328163773.948616916, 8.501000000]: Message from [/tilt_shadow_filter] has a non-fully-qualified frame_id [base_footprint]. Resolved locally to [/base_footprint]. This is will likely not work in multi-robot systems. This message will only print once.
[WARN] [WallTime: 1328163777.472241] [9.112000] You've passed in true for auto_start to the python action server, you should always pass in false to avoid race conditions.
How to fix it?
Thank you~
Asked by sam on 2012-02-01 17:28:33 UTC
Answers
If exporting the robot variable isn't happening in your launch files, you should probably do that first. Have you tried setting the rosparameter "use_sim_time" to true? It looks like a synchronization issue which I usually see when either two computers communicating by ROS aren't synchronized or I've forgotten to use the simulated time. Good luck.
Asked by mkillpack on 2013-01-28 02:17:41 UTC
Comments
I try to run: rosparam set use_sim_time true; but without luck.
Asked by sam on 2013-01-30 00:10:28 UTC
Comments
DId you figure this out? I am having same issue.
Asked by jys on 2013-01-22 04:12:19 UTC
I've a similar problem:
Maybe take a look at the tf tree using
Asked by sven-cremer on 2014-01-31 18:07:48 UTC