Unable to transform between frames for which transform exists

edit

Loading objects in the planning scene with moveit::planning_interface::PlanningSceneInterface::addCollisionObjects results in error Unable to transform from frame 'world' to frame '/panda_link0'. Returning identity..

• I tracked down the issue to moveit::core::getTransform which gets called by the interface which calls methods from planning_scene, here.

• At the same time, I'm 100% sure the transform exists before publishing the objects, because 1) prior to adding the object I sleep and spin until the transform is available; 2) I can see it if I rosrun tf2_tools view_frames.py.

• I tried to update moveit's internal map of transforms using planning_scene_monitor::PlanningSceneMonitor::updateFrameTransforms(), and checking the last update was recent with getLastUpdateTime (it is 0.2s - 0.25s ago); This issue discusses the same procedure.

• Restarting my node (only) doesn't display the error at all, so it really seems an "update" issue.

More details on what I might be doing wrong:

• I'm sending a collision object with collision_object.header.frame_id = my_object.getPose().header.frame_id; which is initialized elsewhere to be the string "world";
• I'm publishing the equivalent of writing this transform:

auto static_transform_stamped = geometry_msgs::TransformStamped {};
static_transform_stamped.header.stamp = ros::Time::now();
static_transform_stamped.header.frame_id = "world";
static_transform_stamped.child_frame_id = "panda_link0";
static_transform_stamped.transform.translation.x = 0.0;
static_transform_stamped.transform.translation.y = 0.0;
static_transform_stamped.transform.translation.z = 0.0;
static_transform_stamped.transform.rotation.w = 1.0;
static_transform_stamped.transform.rotation.x = 0.0;
static_transform_stamped.transform.rotation.y = 0.0;
static_transform_stamped.transform.rotation.z = 0.0;

on a topic and sending it (after aggregation happens) in a separate node (as per #310440) but, as I said previously, I'm also sleeping and spinning until said transform is live before even attempting to add objects to the collision scene.