Re: 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-tp9024p9027.html

Yes, I publish both /wheel_odom topic and /wheel_odom->base_footprint TF from the same Python script, and if I do "rosrun tf tf_echo /wheel_odom base_footprint" at once with main launch file, I get this output:

------------------
[ INFO] [1647504028.659039964]: Connected to master at [10.10.101.218:11311]
Failure at 1647504029.717054738
Exception thrown:"wheel_odom" passed to lookupTransform argument target_frame does not exist.
The current list of frames is:
Frame frontal_camera_link exists with parent base_link.
Frame base_link exists with parent base_footprint.
Frame connector exists with parent base_footprint.

Failure at 1647504029.717054738
Exception thrown:"wheel_odom" passed to lookupTransform argument target_frame does not exist.
The current list of frames is:
Frame frontal_camera_link exists with parent base_link.
Frame base_link exists with parent base_footprint.
Frame connector exists with parent base_footprint.

At time 1647504033.559
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY (radian) [0.000, -0.000, 0.000]
in RPY (degree) [0.000, -0.000, 0.000]
At time 1647504034.560
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY (radian) [0.000, -0.000, 0.000]
in RPY (degree) [0.000, -0.000, 0.000]
-------------------

So, clearly, TF is publishing, but with a small initial lag.