Costmap Configuration in ROS Navigation

asked 2022-02-21 15:49:28 -0500

VineetPandey gravatar image

I have been working with ROS Localization and ROS Navigation on a robot and I noticed that default frame id (odom) of the local costmap throws the following error when a goal is sent:

[ERROR] [1468101999.060938901]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1468102000.826297045 but the latest data is at time 1468102000.823431077, when looking up transform from frame [base_link] to frame [map]

However, when i change the frame id to Map, as explained in this comment, I don't receive any error and the robot navigates to the goal point without any issue (more or less - the robot stops based on the location provided by/odometry/filtered_map topic even when I provide /odometry/filtered topic to the move_base. Is there a fundamental flaw in my understanding of the configuration or is that how it works? local_costmap: global_frame: map robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 4.0 static_map: false rolling_window: true width: 12.0 height: 12.0 resolution: 0.15

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I couldn't add the file because I don't have enough Karma.

VineetPandey gravatar image VineetPandey  ( 2022-02-21 15:50:37 -0500 )edit