when tf2::ExtrapolationException occured, move_base died

asked 2016-10-25 01:42:19 -0600

252 ●30 ●35 ●44

updated 2016-10-25 01:44:41 -0600

when i use Sick Tim561 with this sick_tim package ,sometime laser will disconnect and reconnected , but sometime laser is OK when navigation .why this occasionally happen, i have not found the reason . when laser reconnected,the TF timestamp errors ,it throws

terminate called after throwing an instance of 'tf2::ExtrapolationException' what(): Lookup would require extrapolation into the future. Requested time 806.12... but the latest data is at time 806.08... when looking up transform from frame [odom] to frame [map] - and then move_base node died,the robot base lost control. Is there exist someway to prevent move_base being died, when laser reconnected? If this exists,how can i do ? - Any suggestions will be appreciated.Thanks.

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answered 2016-10-25 01:58:05 -0600

alienmon
582 ●21 ●26 ●35

updated 2016-10-25 02:25:16 -0600

I'm not sure if this is your issue or not as I never use sick_tim pkg.

But I think the issue is in the transform :

Requested time 806.12... but the latest data is at time 806.08... when looking up transform from frame [odom] to frame [map]

Take a look at tf and time : http://wiki.ros.org/tf/Tutorials/tf%2...

I suspect that you use ros::Time::now().

You should use ros::Time(0) instead to get the latest available transform in the buffer. Because there is a travel time in between sending the transform and receiving it in the buffer.

Alternatively you can use ros::Time::now() - delay

EDIT:

See the change log

adjust time stamp - last scan point = now ==> first scan point = now - 271 * time increment - also just assume 0.001 s USB latency between scanner and PC for now this avoids TF ExtrapolationExceptions (cannot project into future)

You may try increasing the time difference e.g. the 271 to 350

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@alienmon ,Thanks very much：) I tried to find codes which use ros::Time::now() in navigation stack,but I failed.Because lookupTransform() throws exception with logger level [DEBUG] ,[INFO], [WARRN] or [ ERROR],but this error without logger level .I am confused.

jxl ( 2016-10-26 03:40:05 -0600 )edit

https://github.com/uos/sick_tim/searc...

alienmon ( 2016-10-27 01:07:12 -0600 )edit

@alienmon,thank you very much .When i try to replace the robot hardware circuit board, the problem disappeared.Even if laser reconnected successfully, move base not died any more .

jxl ( 2016-10-28 08:15:45 -0600 )edit

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