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rosbag play & tf static_transform_publisher

asked 2011-02-17 04:44:06 -0600

tperkins gravatar image

updated 2011-02-17 05:11:52 -0600

I've recorded some data and realized one of my static transforms was wrong. Specifically, I'm want to run robot_pose_ekf, but my /base_footprint to /imu transform is upside down.

I want to play back the data with a new transform, provided by tf's static_transform_publisher node. But this doesn't work because the data's time is in the past, and transform's time is in the present. Is it possible to have static_transform_publisher broadcast in the past? Or is there something else I can do?

To clarify, I get warnings that look like this:

[ WARN] [1297969705.023576238]: You requested a transform that is 75418.058 seconds in the past, but the tf buffer only has a history of 10.685 seconds.

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mmwise gravatar image mmwise  ( 2011-02-17 09:33:11 -0600 )edit

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answered 2011-02-17 04:53:35 -0600

tfoote gravatar image

updated 2011-02-17 05:32:39 -0600

You can use the tf_remap script to filter the output of your bag file. See the tf wiki page

To use it you will want to remap your playback to put /tf onto /old_tf and then use tf_remap to move most things from /old_tf to /tf with your remappings applied.

To deal with the timing issue you should set use_sim_time parameter and playback the bag file with the clock option enabled.

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answered 2011-03-11 01:18:06 -0600

szokei gravatar image

I'm running: slam_gmapping, rosbag play --clock bagfile and static_transform. The map can't be build because the roswtf is giving the following error. The using_sim_time parameter is set.

receiving transform from [/play_1299856132521102500] that differed from ROS time by -2504119.52616s

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Asked: 2011-02-17 04:44:06 -0600

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Last updated: Mar 11 '11