# Can't get transform from other machine on network

Hi,

I have some code that calls lookupTransform, and my node crashes on that line. The TF I am getting is being published on a different machine that the one calling lookupTransform. When I run the node calling lookupTransform on the same machine that publishes the TF, then everything works fine. But when I run the node calling lookupTransform on a different machine, it crashes on lookupTransform with a segmentation fault. What is more weird is that waitForTransform returns true on both machines.

Is this a known issue with lookupTransform? Does anyone else have this problem? Any help is appreciated.

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Something to check (but it definitely shouldn't lead to a SEGFAULT): make sure the clocks on all involved hosts are sufficiently synchronised. TF is very much tied to time, so any skew or desync will lead to trouble.

( 2017-06-30 13:36:38 -0500 )edit

Have you set ROS_MASTER_URI on the machine that you are trying to get the transforms? Are you able to echo tf topics on the machine that you want to call lookupTransform ?

Your problem resembled a connection issue since you have said "When I run the node calling lookupTransform on the same machine that publishes the TF, then everything works fine."

( 2020-12-28 01:38:43 -0500 )edit