[ros-users] tf spits a lookup exception

[Eric Perko]

For any who find this thread in the future, it was asked and solved on ROS
Answers: http://answers.ros.org/question/906/tf-spits-a-lookup-exception

- Eric

On Mon, May 16, 2011 at 12:11 AM, Tully Foote <tfoote at willowgarage.com>wrote:

> Hi Dimitar,
>
> I expect that this error comes from improper usage of the library in your
> code.  I suggest that you isolate it down to as small a test case as you can
> reproduce and ask it on answers.ros.org.  If it is determined to be a bug
> then a ticket can be filed to fix it.
>
> Tully
>
> On Tue, May 10, 2011 at 6:26 AM, Dimitar Simeonov <
> simeonov.dimitar at 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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>>
>>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827
>
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>
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