Lookup would require extrapolation into the future

Posted by marco on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lookup-would-require-extrapolation-into-the-future-tp6755.html

Dear all,

I have a roomba and a notebook, all with melodic and ntp syncronized.
The roomba is with a kinect and a jetson nano; I offload as much as I can to the notebook, where I run roscore and where I run rtabviz. Network is setup properly, I can move the robot with teleop and I can do certain stuff with the kinect.

Problem is with mapping.

From the roomba I run:

roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start --Vis/MaxFeatures 500 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --Kp/DetectorStrategy 6 --OdomF2M/MaxSize 1000 --Odom/ImageDecimation 2" rtabmapviz:=false

From the notebook:

rosrun rtabmap_ros rtabmapviz _subscribe_odom_info:=false _frame_id:=camera_link

The problem is that from the notebook I can't get anything visualized. Errors on the screen is:

[ WARN] [1593460217.247968450]: Could not get transform from odom to camera_link after 0.200000 seconds (for stamp=1593460217.050795)! Error="Lookup would require extrapolation into the future.  Requested time 1593460217.050794514 but the latest data is at time 1593460216.756735280, when looking up transform from frame [camera_link] to frame [odom]. canTransform returned after 0.200335 timeout was 0.2.".

I tried several things, all unsuccessfully, so I'm asking for some guidance.
What shall I do to solve this issue?

Thanks