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Well, the code requests transformPose with time t_b of the latest base pose. If you publish at different places of your node, time t_g of global would e.g. have a slightly earlier timestamp - and tf must fail. Same thing if one of the other tf-messages has not been received yet. Unless you enable extrapolation, this is how tf(2) should behave. In amcl - which would typically publish the map->odom or world->local transform - they timestamp the transform with 0.2s in the future. Maybe that's also a solution for you?