Ask Your Question

How to resoleve Exception: Lookup would require extrapolation into the future?

asked 2016-07-12 11:40:42 -0500

anilmullapudi gravatar image

I was publishing a frame using launch file.

I was getting below errors. tf2.waitForTransform(src_fram, des_frame, rospy.get_rostime(), rospy.Duration(10.0)); Exception: Lookup would require extrapolation into the future. Requested time 1468340743.794792891 but the latest data is at time 2117.120000000, when looking up transform from frame [bed_frame] to frame [wide_stereo_optical_frame]. canTransform returned after 10.0004 timeout was 10.

I have used all time combinations such as rspy.Time(), rospy.get_rostime(), and but no luck. i also used sleep function for 10 seconds before waitForTransform, this is also not worked

here is my code

def getTransformedPoint(faceCoordinate, src_fram, des_frame):
point = PointStamped()
point.point.x = faceCoordinate[0];
point.point.y = faceCoordinate[1];
point.point.z = faceCoordinate[2];
point.header.frame_id = src_fram;
point.header.stamp = rospy.Time();
print "rospy.Time(): ",point.header.stamp;
print "rospy.get_rostime(): ",rospy.get_rostime();
print " ",;

tf2.waitForTransform(src_fram, des_frame, rospy.Time(), rospy.Duration(10.0));

desired_frame = tf2.transformPoint(des_frame, point)
print desired_frame
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-07-12 13:24:41 -0500

anilmullapudi gravatar image

The above code is working after setting simulation time to true in the launch file.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2016-07-12 11:40:42 -0500

Seen: 1,842 times

Last updated: Jul 12 '16