hector transfrom fail

asked 2020-02-27 09:22:48 -0500

xinxinxin gravatar image

Hi I was run hector with my own bag. The bag contains /tf /tf_static /scan /odom /imu /joint_statis /clock /cmd_vel (just run record -a at simulation environment)

The hector could successively generate map from the bag But the terminal outputs error of

[ERROR] [1582814221.463541035, 5370.258000000]: Transform failed during publishing of map_odom transform: , when looking up transform from frame [base_footprint] to frame [odom]

[ERROR] [1582814221.966644772, 5370.756000000]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation at time 5369.942000000, but only time 5369.741000000 is in the buffer, when looking up transform from frame [base_footprint] to frame [odom]

[ERROR] [1582814222.469813425, 5371.259215768]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation into the future. Requested time 5370.142000000 but the latest data is at time 5369.942000000, when looking up transform from frame [base_footprint] to frame [odom]

I checked my tf_tree during record the bag. It is odom->base_footprint->base_link->base_scan.

So I guess is the launch setting. But not sure where is wrong. Here is the parts of launch

  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="odom_frame" default="odom"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>

any idea of that? Thank you

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