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hector-mapping Lookup would require extrapolation into the future

asked 2013-07-16 04:37:39 -0600

pkohout gravatar image


i try to run hector-slam on the asctec pelican. But when i launch hector-mapping i get the following error:

[ERROR] [1230818054.341736259]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation into the future.  Requested time 1230818053.694549500 but the latest data is at time 1230818053.195532500, when looking up transform from frame [/base_link] to frame [/nav]

If i am right, that error means that my tf data is to old so it is not used or ? I have tried to set the publish rate of tf higher (up to 1000Hz), but the error keeps. I also have make sure that i do not use the sim time.

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Hi, did you solve the problem? I've got the same problem here which prohibits me from keep going. Couldn't find any related support .Am I missing anything?

EwingKang gravatar imageEwingKang ( 2014-07-05 01:46:40 -0600 )edit

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answered 2015-01-26 01:34:22 -0600

tanghz gravatar image

Hi, I faced this problem, too. And I solved this problem through this method. In the hectormapping launch file, I added the line below:

<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>

Then everything is OK. I am under the environment: ROS Hydro+turtlebot2

So I guess the problem is caused by some parameters of the mobe_base.launch.xml

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Asked: 2013-07-16 04:37:39 -0600

Seen: 1,064 times

Last updated: Jan 26 '15