[ros-users] transformPointCloud

[David Fischinger]

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 <dejan.pangercic at gmail.com>:
> 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
> <david.fischinger at gmail.com> 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
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>
>
>
> --
> MSc. Dejan Pangercic
> PhD Student/Researcher
> Intelligent Autonomous Systems Group
> Technische Universität München
> Telephone: +49 (89) 289-26908
> E-Mail: dejan.pangercic at cs.tum.edu
> WWW: http://ias.cs.tum.edu/people/pangercic
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