[ros-users] Future-dating tf transforms by more than 10 minutes?

Patrick Bouffard bouffard at eecs.berkeley.edu
Tue May 25 21:13:27 UTC 2010

Hi Jack,

I'm not sure what you mean by 'time base', but yes I'm using the --clock option.


On Tue, May 25, 2010 at 1:54 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:
> On Tue, May 25, 2010 at 2:21 PM, Patrick Bouffard
> <bouffard at eecs.berkeley.edu> wrote:
>> Tully,
>> Actually what I'm doing right now is similar to the second scenario
>> you describe, but I broadcast the transform twice, once with a
>> ros::Time::now() timestamp, and immediately following I broadcast with
>> a ros::Time::now() + ros::Duration(600) timestamp. Doing that, my
>> frame appears in the right spot in rviz for the duration of the
>> session (which is a playback of recorded data, that does not include
>> the transform I'm talking about). So what you're saying is that what's
>> happening is that rviz is seeing the present-dated transform, and
>> using that for the duration of the session, while my second
>> future-dated transform is actually not being used. The problem is, if
>> I comment out the second, future-dated transform broadcast, I get the
>> "No transform from [/grey/camera] to frame [/enu]" message again.
>> Could it be that rviz actually is using both the present and the
>> future dated transforms and 'interpolating' for the time in between?
> What time base are you using?
> Do you specify the rosbag play --clock option?
> --
>  joq
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