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4am-robotics / cob_driver

The cob_driver stack includes packages that provide access to the Care-O-bot hardware over ROS messages and services. E.g. for mobile base, arm, camera_sensors, scanners, etc...
www.care-o-bot.org
Apache License 2.0
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[cob_scan_unifier] LookupError on start up #268

Closed fmessmer closed 7 years ago

fmessmer commented 8 years ago

Appears once on startup, probably simply requires a sleep after tf::TransformListener initialization (for filling the buffer):

Node: /scan_unifier
Time: 16:05:39.612337463 (2016-03-04)
Severity: Error
Published Topics: /rosout, /scan_unified

Lookup would require extrapolation into the past.  Requested time 1457103936.557201524 but the earliest data is at time 1457103937.074180613, when looking up transform from frame [base_laser_front_link] to frame [base_link]

Location:
/u/fxm/git/care-o-bot/src/cob_driver/cob_scan_unifier/src/scan_unifier_node.cpp:LaserScan scan_unifier_node::unifieLaserScans:252

Also, unifieLaserScans should be unifyLaserScans :wink:

ipa-nhg commented 8 years ago

I had the same issue during the cob4-5 setup. But in this case the error appears constantly and not only just once on startup. Checking the visualization (RVIZ), I notified that the errors loggin corresponded to a wrong transformation/scanner lecture. The driver mixed the header and the data of the messages, for example the data read by the scan_front were transformed to the scan_right frame. After set the loop_rate of the driver to 10Hz, it is working properly. @ipa-bnm any ideas?

mgruhler commented 7 years ago

@ipa-nhg do you remember why you had to set the loop rate to 10 Hz here?

fmessmer commented 7 years ago

fixed in https://github.com/ipa320/cob_driver/pull/324