ExtrapolationException. Very small time difference?

tf

asked 2012-07-27 01:06:45 -0600

Hyon Lim
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updated 2012-07-27 02:29:58 -0600

dornhege

31395 ●134 ●284 ●498

Currently, I'm using IMU(Xsens) + Laser(Hokuyo). Sometimes, below is problem. As you see, 0.04sec time difference. (Few sample difference). How can I solve this problem?

Note that all nodes are on same machine.

terminate called after throwing an instance of 'tf::ExtrapolationException' what(): Lookup would require extrapolation into the future. Requested time 1343387030.103303000 but the latest data is at time 1343387030.065800000, when looking up transform from frame [/laser] to frame [/base_stabilized]

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answered 2012-07-27 02:22:03 -0600

Lorenz

22731 ●129 ●202 ●316 http://ias.in.tum.de/p...

Just use waitForTransform or tf::MessageFilter. Also, make sure you went through this tutorial.

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answered 2012-07-27 02:21:44 -0600

dornhege

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The easy way would be to use 0 as the time, this will get you the latest data, instead of the data at the time (which might be in the future/no received yet).

Alternatively, use tf waitForTransform.

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