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rospy tf waitForTransform not waiting

asked 2015-04-12 17:05:11 -0600

anuppari gravatar image

I keep getting lookup extrapolation errors when trying to use tf, even when using listener.waitForTransform. For example I get:

Exception: Lookup would require extrapolation into the future. Requested time 1428875486.097693682 but the latest data is at time 1428875486.097676516, when looking up transform from frame [ugv0] to frame [image]

The difference in time is less than a millisecond, and even if my timeout duration is very long, I still get an extrapolation error. My code has:

tfl.waitForTransform('image',obj_name,timeStamp,rospy.Duration(10.0))

The tf call is in a callback on a topic that has data published to it at a very fast rate, approximately 360hz, and the relevant transforms are also all being published at ~360hz except for a static transform, which is at 10hz. I would attach the pdf of the view frames output, but I dont have enough points to attach files.

What is wrong?

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answered 2015-04-22 02:07:21 -0600

tfoote gravatar image

There's a ticket here tracking this issue.

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Asked: 2015-04-12 17:05:11 -0600

Seen: 382 times

Last updated: Apr 22 '15