hector-mapping Lookup would require extrapolation into the future
Hello guys, I'm generating a map with hector mapping, I have the follow system:
- Ubuntu 16.04 on Virtualbox;
- ROS kinetic;
- Laser scanner Sick LMS111;
- hector slam;
- Ixxat usb to can v2;
- IMU Memsic (6 DOF --> 3 accel, 3 gyro) canbus communication.
I installed all drivers, launch the system and hector_mapping generate a good map.
I copied this same system on a pc with native Ubuntu 16.04, launching the system I have a problem: on rviz the laserscan topic blink with this error:
For frame [laser]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 1542901381.561356359 but the latest data is at time 1542901381.541110389, when looking up transform from frame [laser] to frame [map]
I've been trying to understand why this is happening:
- The CPU usage is low;
- map-to-odom transformation is published by hector_mapping;
- odom-to-base_link is a dynamic transformation and is published by a node at 20hz;
base_link-to-laser is a static transformation:
I read that could be a synchronization problem trought multiple pc, but in this case I have only one pc.
I don't understand why on virtual machine works all good while in the native ubuntu machine I have the flickering topic.
Thanks in advance.
Asked by frasar on 2018-12-10 10:42:49 UTC
Answers
Hi, I got the same error in rviz. I increase the Queue Size in the LaserScan tag from 10 to 100 to make the laser scans show up. -Chad
Asked by Chad on 2019-10-02 16:55:34 UTC
Comments