Robotics StackExchange | Archived questions

TF error in topological roadmap

I am running topological navigation (Revision: 54057) on ROS Diamondback. On launching movebasetopostage.launch in topologicalroadmap package, a lot of TF errors similar to following appears:

[ERROR] [1332863239.641246114, 733.000000000]: Lookup would require extrapolation into the past.  Requested time 732.100000000 but the earliest data is at time 733.000000000, when looking up transform from frame [/grid6] to frame [/grid42]
[ERROR] [1332863239.955981566, 733.000000000]: TF Exception that should never happen for sensor frame: , cloud frame: base_laser_link, Lookup would require extrapolation into the past.  Requested time 732.200000000 but the earliest data is at time 733.000000000, when looking up transform from frame [/base_laser_link] to frame [/grid42]
[ERROR] [1332863239.956976386, 733.000000000]: TF Exception that should never happen for sensor frame: , cloud frame: base_laser_link, Lookup would require extrapolation into the past.  Requested time 732.300000000 but the earliest data is at time 733.000000000, when looking up transform from frame [/base_laser_link] to frame [/grid42]
[ERROR] [1332863239.957876360, 733.000000000]: TF Exception that should never happen for sensor frame: , cloud frame: base_laser_link, Lookup would require extrapolation into the past.  Requested time 732.400000000 but the earliest data is at time 733.000000000, when looking up transform from frame [/base_laser_link] to frame [/grid42]
[ERROR] [1332863239.958767605, 733.000000000]: TF Exception that should never happen for sensor frame: , cloud frame: base_laser_link, Lookup would require extrapolation into the past.  Requested time 732.500000000 but the earliest data is at time 733.000000000, when looking up transform from frame [/base_laser_link] to frame [/grid42]
[ERROR] [1332863239.969647689, 733.100000000]: TF Exception that should never happen for sensor frame: , cloud frame: base_laser_link, Lookup would require extrapolation into the past.  Requested time 732.600000000 but the earliest data is at time 733.000000000, when looking up transform from frame [/base_laser_link] to frame [/grid42]

what could be the cause of these? What could be solution? Or I can just ignore them (hoping that rejection of grid points will not change the map much!)

Thank you prince

Asked by prince on 2012-03-27 06:03:16 UTC

Comments

Hmm, do these errors continue throughout the run, or do they only occur near the beginning?

Asked by bhaskara on 2012-03-29 05:43:58 UTC

If they appear, these continue throughout the run. Currently I am not able to localize why these do not occur everytime on execution? Sometimes these errors are not reported reported.

Asked by prince on 2012-03-29 06:58:57 UTC

OK, please file this as a ticket at https://code.ros.org/trac/wg-ros-pkg.

Asked by bhaskara on 2012-03-29 07:44:44 UTC

https://code.ros.org/trac/wg-ros-pkg/ticket/5190

Asked by prince on 2012-03-29 08:01:32 UTC

Answers

You should check that all your computers are accurately time synchronized with ntp, and if so file a bug with topological_navigation.

Asked by tfoote on 2012-03-27 10:29:15 UTC

Comments

All code is running on desktop in simulation environment (stage)! so i believe synchronization is not a problem.

Asked by prince on 2012-03-27 23:32:52 UTC