Revision history [back]

What you are missing is that the tf_listener in a ros node only buffers /tf messages for a limited time - 5 to 10 seconds is typical. In addition to this issue, some nodes have a concept of "transform tolerance", and assume that messages with a timestamp too far in the past are no longer valid.

In my own code, I publish slow-changing transform data every few seconds. That tends to keep everyone happy.