Transform from base_link to map was unavailable

asked 2022-03-25 11:57:47 -0500

Johart24 gravatar image

updated 2022-03-25 12:00:30 -0500

Im getting the following error on Navsat_transform_node and I dont know why.

Transform from base_link to map was unavailable for the time requested. Using latest instead.

I receive this message every 2 seconds:

[ WARN] [1648227578.620166357]: Transform from base_link to map was unavailable for the time requested. Using latest instead.

[ WARN] [1648227580.620179657]: Transform from base_link to map was unavailable for the time requested. Using latest instead.

No matter how i changue the frequency rates of the sensors and ekf estimation nodes. In this moment I have:

  • /fix (10Hz)
  • /imu/data (25Hz) -/odom_enc (25 Hz - 23 real Hz) -/Ekf_global_odometry (15 Hz)

  • navsat_node is working at 7 Hz

  • Tf base_link to odom is generated by EKF node instance runing at 20 Hz

  • TF odom to map is generated by EKF node instance runing at 15HZ

My outpout from tf tree is the next one: https://files.fm/u/ppj5pjmhh

I already put offsets to the generation tf frames on EKF global node, but it didn´t works for me

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Comments

are you working in simulation or in hardware? if you are working in simulation, are all your nodes using the same clock? Its been a while since i"ve worked in ROS1, but a common issue with transforms when people are working in simulation is that, when they don't appropriately setup all their nodes to use the sim clock, there will be a mismatch between the times requested (sim time starts at 0, the wall clock will be some arbitrary large value). TF complains when you ask it to extrapolate by too much.

shonigmann gravatar image shonigmann  ( 2022-03-25 13:46:51 -0500 )edit

I am working in hardware, i have a jetson nano and a arduino one (for motor and enconders control infertace) conected. Do you think times on arduino and jetson could be different?

Johart24 gravatar image Johart24  ( 2022-03-28 16:11:48 -0500 )edit