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[ROS2] How to solve tf2 error: extrapolation into the future?

asked 2022-03-16 08:35:22 -0500

oferbar
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updated 2022-03-16 08:36:35 -0500

I am trying to use a tf2 buffer with no luck. The provided error is as follow:

" Could not transform map to base_link: Lookup would require extrapolation into the future. Requested time 1647436717.509095 but the latest data is at time 4076.014000, when looking up transform from frame [map] to frame [base_link] "

I noticed a huge different between latest and requested time, but couldn't find any example to such occasion online.

What makes the second timer to start counting from such a low number, and how can i change it?

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answered 2022-03-16 13:04:59 -0500

tfoote

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The most common reason for this is that some of your system is using simulated time and the other parts of your system are not. (Simulated time typically starts at 0 seconds and counts up. System time is counting since 1970)

The design article is here: https://design.ros2.org/articles/cloc...

Make sure that you're setting using_sim_time to true on all your nodes not just some.

For others who run into this you also will want to consider using_sim_time when playing back a bag file with the clock.

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Asked: 2022-03-16 08:35:22 -0500

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Last updated: Mar 16 '22

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[ROS2] How to solve tf2 error: extrapolation into the future?