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Lookup would require extrapolation into the past but rqt shows required time is in range.

asked 2019-11-06 21:59:29 -0500

pan gravatar image

updated 2019-11-07 04:18:48 -0500

  • 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:

image description

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;
                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){


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 ?

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gvdhoorn gravatar image gvdhoorn  ( 2019-11-07 02:12:36 -0500 )edit

1 Answer

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answered 2019-11-07 01:31:37 -0500

wintermute gravatar image

I had similar error, and solved it by changing the rates of tf's.

You have 2 transforms at 10000 and one at 50hz. I would try changing those.

Best, Can

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base_footprint --> laser_front is tf_static publishded by robot_state_publisher. map --> odom depends on matching result. what confused me mostly is that the earliest data is at time 1572576374.014772881 instead of 1572576373.99.

pan gravatar image pan  ( 2019-11-07 20:05:16 -0500 )edit

it could be also me a mismatch of clocks of sensors. Are your messages provided from sensors have their timestamps, or are you stamping them on arrival? I am having similar errors from time to time, which are eliminated with a reset of boards.

wintermute gravatar image wintermute  ( 2019-11-08 01:15:04 -0500 )edit

yes, messages have their timestamps from their ros wrapper package respectively. I just recorded a rosbag and played it.

pan gravatar image pan  ( 2019-11-11 01:11:40 -0500 )edit

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Asked: 2019-11-06 21:59:29 -0500

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Last updated: Nov 07 '19