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Hi,<br>
<br>
sorry for not giving enough code (and sorry for adding a tar which
was intended for a different mail). Thanks for the quick response
anyway.<br>
<br>
I turns out I struggled with two small defects that I have submitted
as <br>
<pre wrap=""><a class="moz-txt-link-rfc2396E" href="https://code.ros.org/trac/ros/ticket/3707"><https://code.ros.org/trac/ros/ticket/3707></a>
and
<a class="moz-txt-link-rfc2396E" href="https://code.ros.org/trac/ros-pkg/ticket/5207"><https://code.ros.org/trac/ros-pkg/ticket/5207></a>
cheers,
Thibault
</pre>
<br>
On 10/13/2011 07:39 PM, Tully Foote wrote:
<blockquote
cite="mid:CAJTOrSRiHvDw243_J5fpUfn8ZpkoNUe7BxCehNcfsiZDvnwC6w@mail.gmail.com"
type="cite">Thibault,
<div><br>
</div>
<div>The wait for transform is waiting for a transform at time
"now" but the attempted transform is at the time of the header
in robot pose. I would recommend changing the now to be equal
to robot_pose.header.stamp. I can't see where those are set in
your code block, but likely they are different times. </div>
<div><br>
</div>
<div>PS debugging type questions are better asked on <a
moz-do-not-send="true" href="http://answers.ros.org">answers.ros.org</a>
it's easier for others to find similar questions there. </div>
<div><br>
</div>
<div>Tully <br>
<br>
<div class="gmail_quote">On Thu, Oct 13, 2011 at 5:05 AM,
Thibault Kruse <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:kruset@in.tum.de">kruset@in.tum.de</a>></span>
wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt
0.8ex; border-left: 1px solid rgb(204, 204, 204);
padding-left: 1ex;">
Hi all,<br>
<br>
I am using electric lastest ubuntu release for Natty.<br>
<br>
I run stage as simulator with map server and amcl.<br>
$ rosnode list<br>
/amcl<br>
/map_server<br>
/rosout<br>
/rviz_1318495883909692411<br>
/stage<br>
<br>
The current list of frames is:<br>
Frame /base_laser_link exists with parent /base_link.<br>
Frame /base_link exists with parent /base_footprint.<br>
Frame /base_footprint exists with parent /odom.<br>
Frame /odom exists with parent /map.<br>
Frame /map exists with parent NO_PARENT.<br>
<br>
<br>
The following code snippet illustrates my problem:<br>
<br>
std::string target_frame = "/map"; // /odom
/base_laser_link;<br>
listener.waitForTransform("/base_link", target_frame, now,
ros::Duration(2.0));<br>
//wait for inverse transform as well<br>
//listener.waitForTransform(target_frame, "/base_link", now,
ros::Duration(2.0));<br>
ros::Duration(0.5).sleep();<br>
listener.transformPose(target_frame, robot_pose,
global_pose);<br>
<br>
<br>
The code above fails with tf::ExtrapolationException<br>
<br>
It does not fail if I use target frames odom or
/base_laser_link;<br>
It does not fail if I increase the sleep to 1.0 secs<br>
It does not fail if I also wait for the inverse transform
(though a single waitForTransform wont do either way round)<br>
<br>
Since this is a very basic setup, I wonder whether I am
missing something obvious here. Or whether I should file a
bug report.<br>
<br>
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<br>
</blockquote>
</div>
<br>
<br clear="all">
<div><br>
</div>
-- <br>
Tully Foote<br>
Systems Engineer<br>
Willow Garage, Inc.<br>
<a moz-do-not-send="true" href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>
(650) 475-2827<br>
</div>
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</pre>
</blockquote>
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