PR2 transform error from external desktop (unable to look up transform)

asked 2014-10-23 18:13:30 -0600

curranw gravatar image

updated 2014-11-22 17:05:54 -0600

ngrennan gravatar image

I have been trying to get pr2_surrogate working on our PR2. Everything works, except the arms don't move. We are using the razer hydra to move the arms and the occulus rift to move the head.

If I look at the pr2-dashboard I see: "Failed to transform: Unable to lookup transform, cache is empty, when looking up transform from frame [/hydra_left_pivot] to frame [/torso_lift_link]"

If I look at the tf tree from the desktop, I see the frame /hydra_left_pivot as a child to to frame /torso_lift_link. However, the most_recent_transform seems to be an uninitialized value (i.e. 1414105165.131). If I look at the tf tree from the robot, I see normal values.

I'm wondering if this is caused by a connection issue? The desktop can publish commands to the robot, and the entire surrogate setup works, except for the arm movement. We've set ROS_IP and ROS_MASTER_URI correctly.

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