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hector_mapping: base_link -> laser transform times out once

asked 2013-01-29 03:18:52 -0500

Ernest gravatar image

updated 2013-01-29 03:19:51 -0500

Hi,

I'm setting up a hector_mapping node. My simple launch file sets up a static base_link -> laser transform:

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <param name="pub_map_odom_transform" value="true"/>
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="base_link" />

</node>

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100" />

When I run it, I get the following error, but only once:

lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

Does that mean there is one lookupTransform call for which the tf wasn't set up, but then it found it?

Thanks in advance,

Ernest

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answered 2013-01-29 03:40:30 -0500

dornhege gravatar image

Yes that is what it means.

When you start everything tf information needs to be received by the tf listener first. Until some information has arrived that calls fails. If it only happens at the start it should be fine.

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Great - thank you.

Ernest gravatar imageErnest ( 2013-01-29 03:42:34 -0500 )edit

I am getting the same error.. What should I do?

Shilpan gravatar imageShilpan ( 2017-03-12 22:16:31 -0500 )edit

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Asked: 2013-01-29 03:18:52 -0500

Seen: 1,651 times

Last updated: Jan 29 '13