On Tue, May 10, 2011 at 6:26 AM, Dimitar Simeonov <simeonov.dimitar@gmail.com> wrote:

Hello,
I'm not sure whether this is better asked at answers.ros.org, but since it looks like a bug I'm sending it here

I'm using the tf package and specifically the tf.TransformerROS class in Python.
If I try calling its methods transformPose or transformPointCloud it returns a LookupException

tf.LookupException: Frame id /map does not exist! When trying to transform between /base_link and /map.

However if I try running the tf_monitor right after that I see that tf has knowledge of the frame

~>rosrun tf tf_monitor base_link map
Waiting for transform chain to become available between /base_link and /map

RESULTS: for /base_link to /map
Chain is: /base_link -> /base_footprint -> /odom_combined -> /map
Net delay avg = 0.00684423: max = 0.054

Frames:
Frame: /base_footprint published by /robot_pose_ekf Average Delay: 0.0185 Max Delay: 0.026
Frame: /base_link published by /robot_state_publisher Average Delay: 0.0075 Max Delay: 0.008
Frame: /odom_combined published by /slam_gmapping Average Delay: 0 Max Delay: 0

All Broadcasters:
Node: /robot_pose_ekf 33.5196 Hz, Average Delay: 0.0185 Max Delay: 0.026
Node: /robot_state_publisher 55.5556 Hz, Average Delay: 0.0075 Max Delay: 0.008
Node: /slam_gmapping 25 Hz, Average Delay: 0 Max Delay: 0

I'm running gazebo simulation and have ROBOT=sim set.

Best,
Dimitar
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