Error in using octomaps

asked 2018-05-19 07:59:14 -0600

saurabh gravatar image

updated 2018-05-19 21:11:16 -0600

jayess gravatar image

Hello All,

I am building software for my robot manipulation. In that, I am using octomaps for obstacle avoidance. I am using this tutorial.

Here is my sensor.yaml file:

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /rgbd_camera/rgb/points
    max_range: 5.0
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    filtered_cloud_topic: filter_cloud

And sensor_manager.launch.xml is as below:

<launch>

  <!-- This file makes it easy to include the settings for sensor managers -->  

  <!-- Params for the octomap monitor -->
  <param name="octomap_frame" type="string" value="odom_combined" />
  <param name="octomap_resolution" type="double" value="0.025" />
  <param name="max_range" type="double" value="5.0" />
  <param name="queue_size" value="100" />

  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="seven_dof_arm" />
  <include file="$(find seven_dof_arm_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

Octomaps are being generated, and my arm is also able to avoid them. But I am getting error logs repeatedly, as below:

[ERROR] [1526732500.608402298, 31.269000000]: Transform cache was not updated. Self-filtering may fail.
[ERROR] [1526732502.309807753, 32.772000000]: Transform error: Lookup would require extrapolation into the future.  Requested time 32.703000000 but the latest data is at time 32.701000000, when looking up transform from frame [shoulder_pan_link] to frame [rgbd_camera_optical_frame]

This seems to be a tf related issue, but I am not able to find out the cause of this error. Can someone please let me know the solution to avoid the errors.

Saurabh

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