"Extrapolation into the future" error when running find_object_3d

Posted by bolt on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Extrapolation-into-the-future-error-when-running-find-object-3d-tp2817.html

Hi,

When running the find_object_3d example using

$ roslaunch freenect_launch freenect_launch.launch depth_registration:=true
$ roslaunch find_object_2d find_object_3d.launch
$ rosrun rviz rviz

I receive persistent warnings of the form

[ WARN] [1489930130.781721522]: Lookup would require extrapolation into the future.  Requested time 1489930130.251293115 but the latest data is at time 1489930129.751276853, when looking up transform from frame [object_30] to frame [map]

Looking at the output from tf view_frames below, it seems that find_object_3d is publishing at a slower rate than the static transform publishers. Is the issue that find_object is trying to use the latest transforms from /map_to_odom_tf etc, which don't sync with its own latest transform? How can I fix this?

Many thanks for your help!