TF lookup extrapolate into the future
I am trying to implement the navigation stack on my robot but got the following error
[ERROR] [1590093633.840344045]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1590093633.865389378 but the latest data is at time 1590093633.848809827, when looking up transform from frame [odom] to frame [map]
Here are the commands I am using to launch the static tf publishers
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 map odom 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 1 odom base_link 100" />
<node pkg="tf" type="static_transform_publisher" name="link3_broadcaster" args="0 0 0.1 0 0 0 1 base_link zed_camera_center 100" />
All my nodes are running on the same machine so I do not think that time synchronization is the problem. I am not using map_server or amcl either. I am wondering what other factors can cause that
You can try to increase transform_tolerance param. Increase the static_tf_publisher rate as well. Now you only pub at 10Hz
I have already increased the transform_tolerance to 2.0 but it did not help. And my robot fails to meet the control loop frequency when the static_tf_publisher rate is increased.
I don't think the static tf affects your control frequency. Actually your data and the requested data only has a very small difference 0.02s, my suggestions may be wrong. For the correct params, you should only adjust a little bit will do