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Hello everybody,

I'm trying to bring up a navigation stack on a custom robot. The Warning I'm getting is the following :

[ WARN] [1349902108.687242123, 83.600000000]: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error: Lookup would require extrapolation into the past.  Requested time 83.500000000 but the earliest data is at time 1349902098.858861163, when looking up transform from frame [/base_footprint] to frame [/map]

My launch file looks like this:

The static transform publisher doesn't solve the problem either ... .

I would be happy about any advice.

Best regards,


Originally posted by Ros_student on ROS Answers with karma: 1 on 2012-10-10

Post score: 0


1 Answer 1


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Hello Thomas,

The problem is that stage is working with simulation time (starting at 0) but gmapping is working on real time. Adding

<param name="/use_sim_time" value="true"/>

after the should solve the problem.

Originally posted by jorge with karma: 2284 on 2013-05-03

This answer was ACCEPTED on the original site

Post score: 1


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