Can't set wait_for_transform_duration

Posted by Divelix on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-t-set-wait-for-transform-duration-tp9024.html

Hi, Mathieu,

Currently, I use the following configuration on the robot: wheel odometry (/wheel_odom) as guess for icp_odometry and icp_odometry output as /odom for rtabmap. When I launch this configuration it throws these errors for a few seconds and then works fine:
[ WARN] [1647444262.047491739]: odometry: Could not get transform from /wheel_odom to base_footprint (stamp=1647444261.962495) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="Lookup would require extrapolation -0.130254030s into the future. Requested time 1647444261.962495327 but the latest data is at time 1647444261.832241297, when looking up transform from frame [base_footprint] to frame [wheel_odom]. canTransform returned after 0.100217 timeout was 0.1."
[ERROR] [1647444262.047700818]: "guess_frame_id" is set, but guess cannot be computed between frames "/wheel_odom" -> "base_footprint". Aborting odometry update...
I tried to set "wait_for_transform_duration" to 50 as global parameter and as private parameter for icp_odometry and rtabmap, but still get these warnings about 0.1 and errors for few first seconds. Also I did "rosparam get wait_for_transform_duration" and it printed 50... Am I doing something wrong?