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2012-11-28 06:24:28 -0500 | commented question | Odometry transform lookup fails in AMCL node No, it happens during normal function. Also to note, Ive tested amcl with stageros publishing the odom->base_link transform, which works without any tf errors. |
2012-11-28 04:36:55 -0500 | asked a question | Odometry transform lookup fails in AMCL node Hi, I'm new to working with tf so any input would be really appreciated.. I'm broadcasting an odom->base_link transform at 10 Hz. When I run my amcl node, I get the following warning: I'm working with a slightly modified AMCL node, but it is based on the navigation stack's AMCL, and the transform listener/ odometry lookup works exactly the same. Some debugging... If I explicitly wait for the transform to arrive in the amcl getOdomPose function (shown below), the base_link->odom transform lookup works: Or if I future-date the transform before broadcasting in the odometry node (shown below), the base_link->odom transform lookup also works: I am not particularly happy with either of these fixes. Waiting for the transform causes the running time of the AMCL to take a huge hit. And I'm nervous about future dating the odometry because the position would be wrong if tf performs interpolation. I could increase the publishing rate of odometry from 10Hz to 20-30 Hz or so, but that doesnt seem to be a catch-all solution to me. What is the accepted way to make sure amcl received the base_link->odom transform correctly? |