• ubuntu16.04

• tf usage

• error message:

  Lookup would require extrapolation into the past. Requested time 1572576373.995487268 but the earliest data is at time 1572576374.014772881, when looking up transform from frame [base_footprint] to frame [odom]

rqt show:

code is here:

 void getTF(const string parent_frame,
                   const string child_frame,
                   const ros::Time time_stamp,
                   tf::StampedTransform& transform){
            static tf::TransformListener tf_listener;
            try{
                tf_listener.waitForTransform(parent_frame, child_frame, time_stamp, ros::Duration(1.0));
                tf_listener.lookupTransform(parent_frame, child_frame, time_stamp, transform);
            }catch(tf::TransformException ex){
                ROS_ERROR("%s",ex.what());
                //ros::Duration(1.0).sleep();
            }
     }

Question:

rqt shows transformation time snapshot between odom and base_footprint is [1572576373.99, 1572576379.38], the required time 1572576373.995487268 should be valid; besides, error message shows the earliest data is at time 1572576374.014772881, why not 1572576373.99 ?