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Cannot use ros::Time::now() before the first NodeHandle has been created or ros::start() has been called.

asked 2013-08-22 01:17:20 -0500

liborw gravatar image

updated 2013-08-22 02:40:21 -0500

Under Hydro the following minimal example

#!/usr/bin/env python

import roslib; roslib.load_manifest('sandbox')
import rospy
import tf

if __name__ == '__main__':
    listener = tf.TransformListener()
    (trans, rot) = listener.waitForTransform('test_1', 'test_2', rospy.Time(0), rospy.Duration(0))

result in this error:

$ rosrun sandbox 
terminate called after throwing an instance of 'ros::TimeNotInitializedException'
  what():  Cannot use ros::Time::now() before the first NodeHandle has been created or ros::start() has been called.  If this is a standalone app or test that just uses ros::Time and does not communicate over ROS, you may also call ros::Time::init()
Aborted (core dumped)

Whats wrong?

Update 1: backtrace

(gdb) bt
#0  0x00007ffff68e1425 in raise () from /lib/x86_64-linux-gnu/
#1  0x00007ffff68e4b8b in abort () from /lib/x86_64-linux-gnu/
#2  0x00007ffff34c069d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/
#3  0x00007ffff34be846 in ?? () from /usr/lib/x86_64-linux-gnu/
#4  0x00007ffff34be873 in std::terminate() () from /usr/lib/x86_64-linux-gnu/
#5  0x00007ffff34be96e in __cxa_throw () from /usr/lib/x86_64-linux-gnu/
#6  0x00007ffff41777d4 in ros::Time::now() () from /opt/ros/hydro/lib/
#7  0x00007ffff397714c in tf2_ros::Buffer::canTransform(std::string const&, std::string const&, ros::Time const&, ros::Duration, std::string*) const ()
   from /opt/ros/hydro/lib/
#8  0x00007ffff4ae6aea in tf::Transformer::waitForTransform(std::string const&, std::string const&, ros::Time const&, ros::Duration const&, ros::Duration const&, std::string*) const () from /opt/ros/hydro/lib/python2.7/dist-packages/tf/
#9  0x00007ffff4adac99 in ?? () from /opt/ros/hydro/lib/python2.7/dist-packages/tf/
#10 0x0000000000466254 in PyEval_EvalFrameEx ()
#11 0x000000000057bd02 in PyEval_EvalCodeEx ()
#12 0x000000000057c77d in PyRun_FileExFlags ()
#13 0x000000000057e4a1 in PyRun_SimpleFileExFlags ()
#14 0x0000000000512cfd in Py_Main ()
#15 0x00007ffff68cc76d in __libc_start_main () from /lib/x86_64-linux-gnu/
#16 0x000000000041ba51 in _start ()
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This looks like something doesn't fit: The error looks like it's from a c++ binary.

dornhege gravatar image dornhege  ( 2013-08-22 02:36:22 -0500 )edit

@dornhege, You are right, the problem is in the tf2 C++ library. I have added the backtrace.

liborw gravatar image liborw  ( 2013-08-22 02:47:33 -0500 )edit

Any news about this? I've run into the same error.

Hendrik Wiese gravatar image Hendrik Wiese  ( 2013-11-02 04:16:45 -0500 )edit

1 Answer

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answered 2013-11-05 09:39:52 -0500

tfoote gravatar image

This is being tracked as a ticket here

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Is this in the debs yet? I'm getting the same problem using ros-hydro-tf 1.10.6-0precise-20131107-0817-+0000

David Lu gravatar image David Lu  ( 2013-12-18 05:09:01 -0500 )edit

Do you have the newer version of tf2? That's where the fix is. It looks like 0.4.8 or higher from the ticket.

tfoote gravatar image tfoote  ( 2013-12-18 12:58:02 -0500 )edit

I can make sure to update that, but explain why I should since I'm not using tf2?

David Lu gravatar image David Lu  ( 2013-12-18 13:13:46 -0500 )edit

But you are, tf has no content anymore it calls tf2 for all methods.

tfoote gravatar image tfoote  ( 2013-12-18 13:15:06 -0500 )edit

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Asked: 2013-08-22 01:17:20 -0500

Seen: 2,217 times

Last updated: Nov 05 '13