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Hi, I also just got this error with code that used to work until the end of March.

If your case is really the same as mine, even if you use Time.now() as parameter for the first waitForTransform this will succede but then lookupTransform will throw an 'Extrapolation into the future' exception. Could you please check?

UPDATE:

I think I have found the problem. This happens if one of the frames doesn't exist yet in the TF database. I already opened an issue and I will forward this information to the TF people.

As a workaround you can publish an arbitrary transform before you ever query. It is ugly and wrong, but it will get you started with the tutorials. I hope this will get solved soon.

Hi, I also just got this error with code that used to work until the end of March.

If your case is really the same as mine, even if you use Time.now() as parameter for the first waitForTransform this will succede but then lookupTransform will throw an 'Extrapolation into the future' exception. Could you please check?

UPDATE:

I think I have found the problem. This happens if one of the frames doesn't exist yet in the TF database. I already opened an issue and I will forward this information to the TF people.

As a workaround you can publish an arbitrary transform before you ever query. It is ugly and wrong, but it will get you started with the tutorials. I hope this will get solved soon.UPDATE 2:

The bug must be in TF2 (TF is now implemented as a shim layer over TF2). @sklaw, you were on the right path: you should check out both geometry on the tag 1.11.4 and geometry-experimental 0.5.7. This should give you a working configuration.