Revision history [back]

Looking at your rqt_graph, I assume the /base2kinect node that is publishing the transform is a static_transform_publisher from the tf library:

http://wiki.ros.org/tf#static_transform_publisher

This uses the tf1 library, which requires you to put a publishing period and uses the /tf topic. Instead, use the tf2 version of the static transform publisher:

http://wiki.ros.org/tf2_ros#static_transform_publisher

This works the same as the tf1 version, but doesn't take a publishing period as the final argument, as it uses the new /tf_static topic which is used for fixed frame transformations. Replacing your tf1 static publisher with this tf2 static publisher should solve your time extrapolation error.

Looking at your rqt_graph, I assume the /base2kinect node that is publishing the transform is a static_transform_publisher from the tf library:

http://wiki.ros.org/tf#static_transform_publisher

This uses the tf1 library, which requires you to put a publishing period and uses the /tf topic. Instead, use the tf2 version of the static transform publisher:

http://wiki.ros.org/tf2_ros#static_transform_publisher

This works the same as the tf1 version, but doesn't take a publishing period as the final argument, as it uses the new /tf_static topic which is used for fixed frame transformations. Replacing your tf1 static publisher with this tf2 static publisher should solve your time extrapolation error.

Looking at your rqt_graphrqt_tf_tree, I assume the /base2kinect node that is publishing the transform is a static_transform_publisher from the tf library:

http://wiki.ros.org/tf#static_transform_publisher

This uses the tf1 library, which requires you to put a publishing period and uses the /tf topic. Instead, use the tf2 version of the static transform publisher:

http://wiki.ros.org/tf2_ros#static_transform_publisher

This works the same as the tf1 version, but doesn't take a publishing period as the final argument, as it uses the new /tf_static topic which is used for fixed frame transformations. Replacing your tf1 static publisher with this tf2 static publisher should solve your time extrapolation error.

EDIT:

Alternatively, you could add the transform from base_link to kinect_link as a fixed joint in your URDF file.