Posted by
floda on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Could-not-convert-laser-scan-msg-Aborting-rtabmap-update-tp7766.html
Salut, i dont find the quirk in my setup. It is reporting transform errors from base_link to laser_frame
[ERROR] [1617422472.283590916]: Could not convert laser scan msg! Aborting rtabmap update...
[ WARN] [1617422473.242588549]: Could not get transform from base_link to laser_frame after 0.200000 seconds (for stamp=1744622472.894362)! Error="Lookup would require extrapolation into the future. Requested time 1744622472.894362000 but the latest data is at time 1617422473.156730727, when looking up transform from frame [laser_frame] to frame [base_link]. canTransform ret
[ WARN] [1617422474.268772179]: Could not get transform from base_link to laser_frame after 0.200000 seconds (for stamp=1744822465.913362)! Error="Lookup would require extrapolation into the future. Requested time 1744822465.913362000 but the latest data is at time 1617422474.156728727, when looking up transform from frame [laser_frame] to frame [base_link]. canTransform returned after 0.200662 timeout was 0.2.".
I dont find the explaination why the request and actual time is 127399991 seconds apart.
tf_monitor reports the following:
RESULTS: for all Frames
Frames:
Frame: base_link published by unknown_publisher Average Delay: 0.672061 Max Delay: 1.10851
Frame: laser_frame published by unknown_publisher Average Delay: -0.0091862 Max Delay: 0
Frame: odom published by unknown_publisher Average Delay: 0.672083 Max Delay: 1.10852
Frame: zed_baro_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: zed_camera_center published by unknown_publisher Average Delay: -0.0092139 Max Delay: 0
Frame: zed_left_camera_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: zed_left_camera_optical_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: zed_mag_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: zed_right_camera_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: zed_right_camera_optical_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: zed_temp_left_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: zed_temp_right_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
All Broadcasters:
Node: unknown_publisher 220.553 Hz, Average Delay: 0.0672988 Max Delay: 1.10852
Node: unknown_publisher(static) 1e+08 Hz, Average Delay: 0 Max Delay: 0
<launch>
<!-- launch zed and rtabmap -->
<include file="$(find zed_rtabmap_example)/launch/rtbot_zed_rtabmap.launch" />
<node pkg="tf" type="static_transform_publisher" name="base_link_TO_zed_camera_center" args="0 0 0.5 0 0 0 base_link zed_camera_center 10"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_TO_laser" args="-0.20 -0.12 0.55 3.14159 0.0 0.0 base_link laser_frame 10" />
</launch>
Any idea welcome. Thanks in advance