rviz and stage tf timing issue in SimulatingOneRobot tutorial
When trying the SimulatingOneRobot tutorial for stageros there appears an error in RViz concerning the LaserScan Transform:
Transform [sender=/stageros] For frame [base_laser_link]: No transform to fixed frame [/odom]. TF error: [You requested a transform that is 900.000 miliseconds in the past, but the most recent transform in the tf buffer is 1800.000 miliseconds old. ]
I have an Ubuntu 10.04 and the ROS diamondback Desktop-full installation.
Has anyone else come across this issue?
Comments
Did you set the parameter "use_simtime" to "true"? You can check this be typing "rosparam get use_simtime" into a terminal.
Sabrina
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2011-03-17 08:18:48 -0500
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The parameter is actually use_sim_time. Be sure to set it (e.g. rosparam set /use_sim_time true) before you launch any nodes.
mkoval
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2011-03-17 09:48:42 -0500
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Thank you for your ideas. I tried setting the /use_sim_time parameter to true, but unfortunately the issue remains. Do you know about rviz configuration? Somewhere it is expecting that tf each 900.000 and that is probably configurable
chcorbato
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2011-03-17 22:06:17 -0500
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The reported error usually occurs when ROS time and Wall time don't match.. Did you try pressing rviz' "Reset" button? Sometimes this helps. Try running "rosrun tf tf_echo /base_laser_link /odom". This should show up the requested transform periodically - if available.
Sabrina
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2011-03-17 22:18:24 -0500
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I've tried the Reset button, then the LaserSacan becomes ok but just for a moment, then the error re-appears. And that state makes the RViz almost unresponsive. The tf_echo shows the requested tf is avaible with a periodicity of 1.000
chcorbato
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2011-03-17 22:45:56 -0500
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Is the scan displayed without errors if you change the fixed frame of rviz to "/base_laser_link" ?
Sabrina
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2011-03-17 23:45:26 -0500
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Yes!! that made it. I changed the Fixed Frame to /base_laser_link in the RViz Global Options and the error dissapeared. You may post the answer to my question. Thank you very much Sabrina.
chcorbato
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2011-03-18 03:29:32 -0500
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Unfortunately there seems to remain some issue with the LaserScan that when active makes RViz almost unresponsive, but that's another issue.
chcorbato
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2011-03-18 03:29:55 -0500
)editadd a comment
