[Discourse.ros.org] [General] Hector_mapping results in tf transformation error

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[Discourse.ros.org] [General] Hector_mapping results in tf transformation error

Ahmed Ali via ros-users


The hector mapping package is not finding the TF even though I have created a static reference TF. I keep getting the following error when I try to launch the training.launch file located in ~/hector_slam/launch. I modified the training.launch file in order to create my TF. The hector_slam package partially works but it does not publish the map_odom transformation so I have no way of knowing the relative location of my rover from the initial location. Can you please help?

The error is:

[ERROR] [1513111318.589547578, 1512355461.660118665]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation into the future.  Requested time 1512355460.650420421 but the latest data is at time 1512355460.113152033, when looking up transform from frame [base_link] to frame [nav]





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[Discourse.ros.org] [General] Hector_mapping results in tf transformation error

Ahmed Ali via ros-users


Was your error resolved?





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[Discourse.ros.org] [General] Hector_mapping results in tf transformation error

Ahmed Ali via ros-users
In reply to this post by Ahmed Ali via ros-users


Hello,

I am trying to use tf in my code. My requirement is as below:
- An image sensor is mounted at a location with IR, that is providing xyz coordinates for my target
- I need to convert those coordinates from Sensor frame of reference to my ARM frame of reference.

One solution can be to use Matrix for conversion. I think this can also be used with tf.
Can you suggest some good source to understand the tf.

Saurabh





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