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TF doesn't work even though it's in the tf_tree

asked 2017-10-16 04:28:13 -0500

Jan gravatar image

updated 2017-10-16 09:12:43 -0500


I need a tf between world and map.

This is my starting situation (world and map are not connected): image description

Now I establish a simple static transform:
image description

The two tf_trees are now connected:
image description

BUT somehow there is still no connection between /world /base_footprint: image description

Rviz is complaining about a missing tf as well.

How can I fix this?
Any hints for further investigation?

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1 Answer

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answered 2017-10-16 12:10:41 -0500

tfoote gravatar image

Your transforms have timestamps that are offset by on the order of 400 seconds which means that there's no valid time to query across the spanning set that you're looking for.

Unrelated, but best practice is to have a tree, not keep inserting parents above map or world.

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Wow, you are right haven't noticed! I don't want to mess with trasnforms below map. Therefore I somehow need to push the world/map transform in the past. Do you know how to do that?

Jan gravatar image Jan  ( 2017-10-16 12:27:19 -0500 )edit

You should make sure that all the computers in your system have synchronized clocks.

tfoote gravatar image tfoote  ( 2017-10-16 12:30:04 -0500 )edit

Since this answers your question please accept it. And if you have more followup questions please ask them separately with specific information on how to reproduce them etc.

tfoote gravatar image tfoote  ( 2017-10-16 12:30:54 -0500 )edit

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Asked: 2017-10-16 04:28:13 -0500

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Last updated: Oct 16 '17