Why is tf_broadcast_publisher creating future tfs
Hi!
I've a question about publishing tfs that are valid in the future. https://github.com/ros/geometry/blob/...
I found this also in robot_state_publisher with use_static_tf false. https://github.com/ros/robot_state_pu...
I configured move_base to control not directly on base link but on a point a bit shifted to the center which shows a good result in 'smoothing' the movements a bit.
Before trying with tf_broadcast_publisher I published the tf from base_link to control_link myself but thought it might make sense to remove that and just use the tf_broadcast_publisher I'm running it with
<node pkg="tf" type="static_transform_publisher" name="control_link_broadcaster" args="-0.3 0 0 0 0 0 base_link control_link 100"/>
The tf looks then like that (its from the simulation with gazebo not live on the robot)
With a tf from base_link to control_link in the future. When running the navigation now trying to transform the path it throws errors with the "Lookup would require extrapolation into the future" message.
I mean I'm fine publishing that tf myself without that + sleeper thing but I'm interested in the rational behind that.
