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I keep getting lookup extrapolation errors when trying to use tf, even when using listener.waitForTransform. For example I get:

Exception: Lookup would require extrapolation into the future. Requested time 1428875486.097693682 but the latest data is at time 1428875486.097676516, when looking up transform from frame [ugv0] to frame [image]

The difference in time is less than a millisecond, and even if my timeout duration is very long, I still get an extrapolation error. My code has:

tfl.waitForTransform('image',obj_name,timeStamp,rospy.Duration(10.0))

The tf call is in a callback on a topic that has data published to it at a very fast rate, approximately 360hz, and the relevant transforms are also all being published at ~360hz except for a static transform, which is at 10hz. I would attach the pdf of the view frames output, but I dont have enough points to attach files.

What is wrong?


Originally posted by anuppari on ROS Answers with karma: 63 on 2015-04-12

Post score: 0

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1 Answer 1

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There's a ticket here tracking this issue.


Originally posted by tfoote with karma: 58457 on 2015-04-22

This answer was ACCEPTED on the original site

Post score: 0

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