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hector-mapping Lookup would require extrapolation into the future

asked 2018-12-10 09:42:49 -0500

frasar gravatar image

updated 2018-12-10 09:58:33 -0500

Hello guys, I'm generating a map with hector mapping, I have the follow system:

  • Ubuntu 16.04 on Virtualbox;
  • ROS kinetic;
  • Laser scanner Sick LMS111;
  • hector slam;
  • Ixxat usb to can v2;
  • IMU Memsic (6 DOF --> 3 accel, 3 gyro) canbus communication.

I installed all drivers, launch the system and hector_mapping generate a good map.


I copied this same system on a pc with native Ubuntu 16.04, launching the system I have a problem: on rviz the laserscan topic blink with this error:

For frame [laser]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 1542901381.561356359 but the latest data is at time 1542901381.541110389, when looking up transform from frame [laser] to frame [map]

I've been trying to understand why this is happening:

  • The CPU usage is low;
  • map-to-odom transformation is published by hector_mapping;
  • odom-to-base_link is a dynamic transformation and is published by a node at 20hz;
  • base_link-to-laser is a static transformation:

    <node pkg="tf" type="static_transform_publisher" name="base_link_2_laser" args="1.675 0 1.7975 0 0 0 /base_link /laser 100"/>

I read that could be a synchronization problem trought multiple pc, but in this case I have only one pc.

I don't understand why on virtual machine works all good while in the native ubuntu machine I have the flickering topic.

Thanks in advance.

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answered 2019-10-02 16:56:11 -0500

Chad gravatar image

Hi, I got the same error in rviz. I increase the Queue Size in the LaserScan tag from 10 to 100 to make the laser scans show up. -Chad

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Asked: 2018-12-10 09:42:49 -0500

Seen: 285 times

Last updated: Oct 02 '19