TF error: transform require extrapolation

asked 2016-02-26 18:38:31 -0600

silgon gravatar image

updated 2016-02-27 04:16:34 -0600

I know this is a common question. I look into several questions with this kind of error but I couldn't solve it. I have a static publisher, let's say rosrun tf static_transform_publisher 0 0 0 0 0 0 map odom 100. I did this one by hand because I'm simulating and I want to process the data as in the real robot.

So, as it is expected, the command rosrun tf tf_monitor map odom gives me the following:

RESULTS: for map to odom
Chain is: map -> odom
Net delay     avg = -0.0230723: max = 0.000498073


All Broadcasters:
Node: unknown_publisher 110.102 Hz, Average Delay: 0.00254529 Max Delay: 0.0273563

Then the description of the important part of the tf tree.

image description

The important part of the code is the following:

    tf_l.waitForTransform(map.header.frame_id, pt.header.frame_id, ros::Time(0), ros::Duration(1));
    tf_l.transformPose(map.header.frame_id, pt, new_pt);
catch (tf::TransformException ex){

And the error is:

Lookup would require extrapolation at time 1456532769.590685931, but only time 1456532769.972357224 is in the buffer, when looking up transform from frame [odom] to frame [map]

For the code, I've used ros::Time(0), ros::Time::now() and map.header.stamp. None of the options is working. I would like to understand why.

I've been hours trying to solve it. I don't know, so I send you all the information that I have about the transformations. Any Ideas? Thanks!


I solved it with:

map.header.stamp = pt.header.stamp = ros::Time(0);

Nonetheless, it's far from being a correct way to do it. Can somebody explain? Thanks

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