Open erblinium opened 1 year ago
Hi @erblinium,
looking at the tf exception "Lookup would require extrapolation into the past", I guess that something might be wrong with your published frames/transformations. According to this link, the error occurs when tf has no data yet.
One of the two frames "camera" or "ur_actual_flange" are not known by tf yet.
Since you are performing a hand-eye-calibration I guess your camera has a link (maybe to "ur_actual_flange"). Did you make sure that you published all the contributing transformations before the calibration was started?
For more information on the Ensenso camera frames you can have a look at our ROS Wiki. There you can also find a tutorial on how to perform a hand-eye-calibration.
Kind regards Benny
If this might indeed be a bug in our code, please feel free to adapt our hand-eye-calibration test such that it reproduces the bug.
Quick "fix" to avoid tf timeout during handeye calibration.
When doing a
capture_pattern
command on theCalibrateHandEye
service , the tf lookup transform function times out and results in service call failing.The callstack is:
StereoCamera::onCalibrateHandEye --> StereoCamera::estimatePatternPose --> Camera::updateGlobalLink
I get the following error messages: