Robot_pose_ekf transform error

edit

Sorry for formatting, can't upload files yet. (first time using ekf) I am trying to implement this EKF with the nav stack, and am just testing my setup with just imu data right now. for context here is the launch file:

The nodelet below converts my imu data to ENU, which should be publishing imu data to the ekf. I suspect the problem is somewhere with the tfs.

when launched, I get this warning:

Lookup would require extrapolation 0.000077746s into the future. Requested time 1669713533.772383928 but the latest data is at time 1669713533.772306204, when looking up transform from frame [imu_frame] to frame [imu_link]

<launch>

!-- Transformation Configuration ... Setting Up the Relationships Between Coordinate Frames --> node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.06 0 0.08 0 0 0 base_link laser 30" /> node pkg="tf" type="static_transform_publisher" name="imu_broadcaster" args="0 0.06 0.02 0 0 0 base_link imu_frame 30" /> node pkg="tf" type="static_transform_publisher" name="base_link_broadcaster" args="0 0 0.09 0 0 0 base_footprint base_link 30" /> !-- odom to base_footprint transform will be provided by the robot_pose_ekf node --> !-- map to odom will be provided by the AMCL --> node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0 0 0 0 0 0 map odom 30" /> node pkg="tf" type="static_transform_publisher" name="tf_imu_ned_enu" args="0 0 0 1.5708 0 3.1416 imu_frame imu_link 10" output="screen"/>

!-- Wheel Odometry Publisher // motor driver --> !-- Subscribe: /right_ticks, /left_ticks, /initial_2d --> !-- Publish: /odom_data_euler, /odom_data_quat -->

!-- subscribes to cmd_vel topic --> !-- publishes odom topic with base_link frame --> !-- broadcasts odom->base_link transform --> !--include file="$(find roboteq_diff_driver)/launch/driver.launch"/ -->

-- IMU Data Publisher Using the BNO08x IMU Sensor --> !-- Publish: /imu/data --> !-- Publish: /bno08x/raw --> node name="ros_bno08x" pkg="ros_bno08x" type="talker.py" respawn="true" respawn_delay="2" output="screen"> param name="frame_id" type="string" value="imu_frame" /> param name="cov_linear" value=".00001"/> param name="cov_angular" value=".00001"/> param name="cov_magnetic" value=".00001"/> param name="cov_orientation" value=".00001"/> /node>

!-- Transforms NED IMU data pulished in frame imu_link_ned on topics /imu/data_ned and /imu/mag_ned to ENU data in frame imu_link published on /imu/data_enu and /imu/mag_enu --> node pkg="imu_transformer" type="imu_transformer_node" name="imu_data_transformer" output="screen"> remap from="imu_in/data" to="bno08x/raw"/> remap from="imu_in/mag" to="bno08x/mag"/> remap from="imu_out" to="imu_enu"/> param name="target_frame" value="imu_link"/> /node>

!-- Extended Kalman Filter from robot_pose_ekf Node--> !-- Subscribe: /odom, /imu_data, /vo --> !-- Publish: /robot_pose_ekf/odom_combined --> !-- remap from="odom" to="odom_data_quat" /--> !--remap from="imu_data" to="imu_data/raw" / --> !--remap from="vo" to="gps_meas" / [/gps topic must have odometry message!!]--> node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"> remap from="imu_data" to="bno08x/raw" /> param name="output_frame" value="odom"/> param name="base_footprint_frame" value="base_footprint"/> param name="freq" value="30.0"/> param name="sensor_timeout" value="1.0"/> param name="odom_used" value="false"/> param name ...