[ros-users] Error not reading scans on tf

[Renato Samperio]

Dear ROS users,

I would like to know if somebody can help me with my problem. I want to map with a Pioneer robot (with a ROSARIA node) and Sick laser (with a modified version of sicktoolbox_wrapper). They are producing a tf tree as showed in: 

http://yfrog.com/f/jkrobotframesp/
*In case could be necessary I can share the launch file.

The error I am obtaining is:

"TF Exception that should never happen for sensor frame: , cloud frame: /base_scan, You requested a transform that is 9.976 seconds in the past, 
but the tf buffer only has a history of 9.971 seconds.
 When trying to transform between /base_scan and /map."

I thought the problem was the tf was not publishing the laser scans but the static scan transform seems to be faster than the C++ broadcaster. The last output from tf_monitor is:

RESULTS: for all Frames

Frames:
Frame: /base_link published by /ROSARIA_client Average Delay: 0.00239482 Max Delay: 0.028034
Frame: /base_scan published by /sscrovers_tf_static Average Delay: -0.0179362 Max Delay: 0.010168
Frame: /odom published by /Gmapping Average Delay: 0.00222625 Max Delay: 0.026887

All Broadcasters:
Node: /Gmapping 20.0193 Hz, Average Delay: 0.00222625 Max Delay: 0.026887
Node: /ROSARIA_client 10.0096 Hz, Average Delay: 0.00239482 Max Delay: 0.028034
Node: /sscrovers_tf_static 45.3095 Hz, Average Delay: -0.0179362 Max Delay: 0.010168


The problem is when I want to map as the scans are not representing the robot surroundings. The same tf tree structure works with simulated data on Stage for Gmapping but not in the robot. How can I assure Gmapping is obtaining scans and tf tree correctly?
*In case could be useful, the bag I produced is here.


Many thanks.

Renato.
 		 	   		  
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