Hallo Dejan, thanks for the reply. But even if I use data directly from a Kinect, the problem still occurs: [ERROR] [1302000428.987287106]: You requested a transform that is 5.705 seconds in the past, but the tf buffer only has a history of 4.933 seconds. where the first second value (5.705) is a bit higher and the second (4.933) a bit lower than ros::Duration(5.0)) used in waitForTransform(). Changing the duration value does not solve the problem. Greetings to Munich! David 2011/4/4 Dejan Pangercic : > Hi David, > > to me it seems that you are playing back the bag file right? > For that to work you need to a) set the "use_sim_time" parameter to > true and b) play the bag with the "--clock" argument: > "rosbag play mybag.bag --clock" > See  also: > http://www.ros.org/wiki/image_geometry/Tutorials/ProjectTfFrameToImage#Trying_it_out > > cheers, D. > On Mon, Apr 4, 2011 at 9:03 PM, David Fischinger > wrote: >> Hallo everyone! >> >> I have a problem transforming PointCloud2 data. Could somebody tell >> me, if I make a fundamental error in using these functions? >> >> >> void transformCallback(const sensor_msgs::PointCloud2::ConstPtr& pcl_in) >> { >>  ROS_INFO("Cloud received"); >>  sensor_msgs::PointCloud2 pcl_out; >>  tf::TransformListener tf_listener; >> >>  tf_listener.waitForTransform("/world", (*pcl_in).header.frame_id, >> (*pcl_in).header.stamp, ros::Duration(5.0));  //return value always >> false! >>  pcl_ros::transformPointCloud("/world", *pcl_in, pcl_out, tf_listener); >>  pc2_publisher.publish(pcl_out); >> } >> >> >> >> "rosrun tf tf_echo /target_frame /source_frame" gives me results, but >> transformPointCloud() results in error messages like: >> >> [ERROR] [1301916374.406336425]: You requested a transform that is >> 244270.678 seconds in the past, >> but the tf buffer only has a history of 243913.670 seconds. >>  When trying to transform between /openni_depth_optical_frame and /world. >> >> Thanks for any help. >> >> Regards >> David >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > MSc. Dejan Pangercic > PhD Student/Researcher > Intelligent Autonomous Systems Group > Technische Universität München > Telephone: +49 (89) 289-26908 > E-Mail: dejan.pangercic@cs.tum.edu > WWW: http://ias.cs.tum.edu/people/pangercic > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >