nav2 teb 'lookup would require extrapolation into the future'

asked 2020-07-22 16:41:10 -0600

johnconn
538 ●17 ●43 ●35

I've been using the dwb Controller in the ros2 nav stack for a while now with success. Today, I wanted to try out the teb local planner.

Building and loading the plugin were a breeze, but for some reason, whenever I set a goal, I get this transform error:

[controller_server-10] [ERROR] [1595453488.697856494] [controller_server]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1595453488.692529 but the latest data is at time 1595453488.682535, when looking up transform from frame [odom] to frame [map]

Then my robot enters a recovery state, until it hits this error again.

If I switch back to using DWB, the error is gone!.

I'm using cyclonedds as my rmw implementation on ros2 foxy

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Did you solve the issue? And could you maybe share your configuration for the tab planner?

NEngelhard ( 2020-11-19 15:43:39 -0600 )edit

I also had the same problem, any solution?

sph ( 2021-03-30 01:43:36 -0600 )edit

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answered 2020-07-22 20:37:27 -0600

stevemacenski

8272 ●34 ●503 ●129 https://www.linkedin.c...

updated 2020-07-22 20:38:14 -0600

TF issues can be caused by so many things its really hard to generally debug for someone else without doing it myself. I will say:

Check your odom->map publisher, make sure its publishing fast enough and slightly into the future since this leads your system
Check your robot state publisher, make sure its publishing fast enough
Check your outputs of RL and make sure that's fast enough

Almost all TF problems like that boil down in my experience to: