Re: "Extrapolation into the future" error when running find_object_3d

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Extrapolation-into-the-future-error-when-running-find-object-3d-tp2817p2821.html

Hi,

before the try/catch here, you can add a waitfortransform() before:

std::string errorMsg;
if(tfListener_.waitForTransform(mapFrameId_, objectFrameId, msg->header.stamp, ros::Duration(waitForTransform), ros::Duration(0.5), &errorMsg))
{
	// do try/catch lookupTransform() here
}

This will wait 500 ms for the transform.

cheers,
Mathieu