Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past. Requested time 5381.303000000 but the earliest data is at time 5381.316000000, when looking up transform from frame [base_footprint] to frame [map]
Hi
I am running cartographer_turtlebot with my own bag.
The mapping works, but the terminal outputs ERROR (in the rviz, you can see the submap just jump to some other place then jump back)
below is the ERROR
Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past. Requested time 5381.303000000 but the earliest data is at time 5381.316000000, when looking up transform from frame [base_footprint] to frame [map]
I checked the tf_tree and confirmed the tree connection is:
map -> odom -> basefootprint -> baselink so the base_footprint is connected to the map.
Why there is a error?
Thank you
Asked by sinsinsinsin on 2020-02-27 13:21:20 UTC
Answers
I had this issue, calling waitForTransform() before lookupTransform() worked for me. The turtle takes some time to spawn, so the lookupTransform() doesn't see the turtle at the beginning. The function waitforTransform() waits for the first transform to appear.
You can find it here (just above 1.2 The Code Explained) : http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29
Asked by edote on 2020-02-28 06:26:32 UTC
Comments
Is your rosbag publishing the
/clock? If so, did you setuse_sim_timewithrosparam set use_sim_time truewhen running Carthographer?Asked by Wilco Bonestroo on 2020-02-27 15:30:52 UTC