pcl_ros / tf : how to use latest transform instead of waiting ?
When calling "pcl_ros::transformPointCloud" I get the error:
[ERROR] [1480244411.676958769, 1224.030000000]: Lookup would require extrapolation into the future. Requested time 1224.022000000 but the latest data is at time 1224.021000000, when looking up transform from frame [base_laser_link] to frame [odom]
I know this could be solved by calling "waitForTransform", but in this specific case speed is more important than precision. So I would like to use the latest available transform, even if a little off, rather than wait for the more suitable one. I.e. in the example above it would use the tf at 1225.021.
Any way to do this ?
May I suggest a title fix? Your question is really about how to transform a
PointCloud
using the latest transform available. That uses TF, but is specific topcl_ros
. Would be good to mention that in the question itself.