Re: Autonomous Navigation with Octomap

Posted by Andrew on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-with-Octomap-tp4350p4432.html

Hello again,

I have integrated the obstacle_detection node into the system. It works, but we receive the error:

[ERROR] [1523412279.639724606]: Lookup would require extrapolation into the future.  Requested time 1523412279.589668067 but the latest data is at time 1523412279.583657568, when looking up transform from frame [base_footprint] to frame [map]

from the obstacle_detection node.

I tried to increase the queue size on the node, and also throttled the cloud that the node subscribes to, but the error still occurs. Do you have any ideas why this issue might be happening?

I have attached my TF tree below.

Thanks in advance,
Andrew

frames.pdf