Recording tf to rosbag and playing back at reduced speed
This worked in Hydro but appears to be broken in Indigo perhaps.
I'm recording a robot experiment using
rosbag record /tf /tf_static /camera/depth_registered/points /robot/joint_states -O trial1.bag
Then I play it back with
rosbag play --clock -r 0.1 trial1.bag
But in MoveIt! I get the tf error:
WARN ros.moveit_ros_planning: Unable to transform object from frame 'camera_depth_optical_frame' to planning frame '/base' (Lookup would require extrapolation into the past. Requested time 1414097890.120901958 but the earliest data is at time 1414097890.730995187, when looking up transform from frame [camera_depth_optical_frame] to frame [base])
But the error goes away if I use a -r 1
instead of -r 0.1
- meaning if I run it in regular time it works fine.
I tried setting
rosparam set use_sim_time true
But that doesn't seem to do anything.
Also, I converted the tf tree to pdf and everything looks correct. So I have some kind of timing error....
If it works at normal speed. I'd guess moveit is trying to transform before all the transforms are republished.
This is the opposite of the problem I see most of the time - your tf history doesn't go back in time far enough.
Is this solved Mr. Coleman?