Mysterious error regarding tf timeout
Posted by derektan1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mysterious-error-regarding-tf-timeout-tp8695.html
Hi Mathieu,
Hope you are doing well. I am currently facing a weird error regarding tf timeout, as shown in the picture below. I never had any problems with this before, but started facing this issue when I'm running RTABMap in localization mode. I managed to fix the issue when I ran RTABMap localization mode using another .db file. Unfortunately, I have no clue why changing my .db file is related to this issue. Furthermore, in mapping mode, things were going fine for the first minute or so before I encountered this issue again. Another observation I had was that the timestamp divergence between incoming tf message and the current system time increases with time, up to 10s of seconds.
More context here. Currently from an external miniPC, I am retrieving odom message and odom-base_link tf from my robot's internal PC. I made sure to sync both computers perfectly using Chrony, and it had been working well for the past few months. A few months back, I was configuring RTABMap to work with robots individually (not namespaced), and all was good. In recent weeks as I was namespacing my robots' topics and nodes to perform multi robot mapping (as discussed in this post), I began having this problem. I'm sure that the tf tree is connected by checking rosrun tf view_frames. I highly doubt I made any mistakes in the namespacing process.
What stumped me most was the fact that changing the .db file averted the problem altogether. Do you have any insights to this issue? I'm tempted to set 'wait_for_transform' to a high value, and maybe setting 'sensor_odom_sync' to true, though I don't think that resolves the crux of the issue. Any insights?
Regards,
Derek Tan
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mysterious-error-regarding-tf-timeout-tp8695.html
Hi Mathieu,
Hope you are doing well. I am currently facing a weird error regarding tf timeout, as shown in the picture below. I never had any problems with this before, but started facing this issue when I'm running RTABMap in localization mode. I managed to fix the issue when I ran RTABMap localization mode using another .db file. Unfortunately, I have no clue why changing my .db file is related to this issue. Furthermore, in mapping mode, things were going fine for the first minute or so before I encountered this issue again. Another observation I had was that the timestamp divergence between incoming tf message and the current system time increases with time, up to 10s of seconds.
More context here. Currently from an external miniPC, I am retrieving odom message and odom-base_link tf from my robot's internal PC. I made sure to sync both computers perfectly using Chrony, and it had been working well for the past few months. A few months back, I was configuring RTABMap to work with robots individually (not namespaced), and all was good. In recent weeks as I was namespacing my robots' topics and nodes to perform multi robot mapping (as discussed in this post), I began having this problem. I'm sure that the tf tree is connected by checking rosrun tf view_frames. I highly doubt I made any mistakes in the namespacing process.
What stumped me most was the fact that changing the .db file averted the problem altogether. Do you have any insights to this issue? I'm tempted to set 'wait_for_transform' to a high value, and maybe setting 'sensor_odom_sync' to true, though I don't think that resolves the crux of the issue. Any insights?
Regards,
Derek Tan
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