Another question about extrapolation in the past

edit

Hello all,

That's a question that has been asked multiple times but none of the solution have worked so far. I'm playing data from a rosbag and when trying to query the tf I have this error:

[ERROR] [1519650555.804462800, 1504014242.149115352]: Lookup would require extrapolation into the past.  Requested time 1504014237.046037623 but the earliest data is at time 1504014237.201914971, when looking up transform from frame [base_link] to frame [world]

Here is the code I'm using to query it :

ros::Time stamp = scan->header.stamp;
//Read transformation UGLY TRICK :P
tf::TransformListener listener(ros::Duration(50.0));
std::cout <<  listener.DEFAULT_CACHE_TIME << " " << listener.getCacheLength() << std::endl;
tf::StampedTransform transform;
try {
    listener.waitForTransform(odom_frame_, "/base_link", stamp, ros::Duration(5.0));
    listener.lookupTransform(odom_frame_, "/base_link", stamp, transform);
} catch (tf::TransformException ex) {
    ROS_ERROR("%s",ex.what());
}

As visible in the code, I tried to change the buffer size to some higher number but it seems this is ignored :/ ?

Also this function is in the callback to a messageFilter in gmappings code:

scan_filter_ = new tf::MessageFilter<sensor_msgs::LaserScan>(*scan_filter_sub_, tf_, odom_frame_, 1);
scan_filter_->registerCallback(boost::bind(&SlamGMapping::laserCallback, this, _1));

I'm running the rosbag with clock and I've set use_sim_time to true. I've also tried slowing down the rosbag to try have my algorithm catch up but I still have the same problem. So I'm at a loss on what the actual problem is. Using `ros::Time(0) instead of the haeder time stamp works.

What is wrong in the approach I'm having ?