Sending waypoints to move_base should be odom or map frame?

asked 2023-05-23 10:02:17 -0500

PabloV gravatar image


I have some doubts about sending waypoints to /move_base. First, is it ok to send waypoints in map frame or should be always in odom frame.

Second: I'm trying to get the TF from map to odom, but I'm not sure how to do it.

If I do map_point.header.stamp = ros::Time::now(); the code works, but I think the correct way should be: odom_pose->header.stamp = ros::Time::now();

But if I do like this I just get the following message for ever:

[ WARN] [1684852027.274208035, 51.481000000]: Lookup would require extrapolation 0.298000000s into the past.  Requested time 48.476000000 but the earliest data is at time 48.774000000, when looking up transform from frame [map] to frame [odom]

I'm using the following function:

 geometry_msgs::PointStamped GpsWaypoints::MaptoOdom(geometry_msgs::PointStamped map_point, geometry_msgs::PointStamped* odom_pose)
geometry_msgs::PointStamped odom_point_output;
bool notDone = true;
tf::TransformListener listener; //create transformlistener object called listener
ros::Time time_now = ros::Time::now();
        map_point.header.stamp = ros::Time::now();
        listener.waitForTransform("odom", "map", time_now, ros::Duration(3.0));
        listener.transformPoint("odom", map_point, odom_point_output);
        notDone = false;
    catch (tf::TransformException& ex)
        ROS_WARN("%s", ex.what());
return odom_point_output;


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