Lookup would require extrapolation into the past with transformPointCloud

asked 2021-04-03 08:24:30 -0600

Hello, I am working on RPI4 without RTC with a WiFi connection to the Internet.

In this simple construction for two temporary point cloud merging with ira_lazer_tool

    tfListener_.transformPointCloud(destination_frame.c_str(), tmpCloud1, tmpCloud2);
catch (tf::TransformException ex)

I have constantly next error:

[ERROR] [1617454696.378895621]: Lookup would require extrapolation into the past.  Requested time 1617454695.263211000 but the earliest data is at time 1617454695.405569552, when looking up transform from frame [front_laser_frame] to frame [base_link]

The difference 1617454695.405569552 - 1617454695.263211000 is 0.1423 (s) it is not so huge, I do not care about robot's environment changes in this time scale.

Do you have any idea what should be the problem here?

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