hdl_localization + move_base error

[bigpigdog]

When I set a 2D nav goal, Some errors have occurred:

[ INFO] [1702973286.012369648, 1702008461.360194988]: Got new plan [ERROR] [1702973286.415246430, 1702008461.763362587]: Extrapolation Error: Lookup would require extrapolation 0.191100147s into the future. Requested time 1702008461.731280565 but the latest data is at time 1702008461.540180445, when looking up transform from frame [odom_est] to frame [map] [ERROR] [1702973286.415310592, 1702008461.763362587]: Global Frame: odom_est Plan Frame size 79: map [ WARN] [1702973286.415354428, 1702008461.763362587]: Could not transform the global plan to the frame of the controller [ERROR] [1702973286.415398697, 1702008461.763362587]: Could not get local plan

I compare tf broadcaster in hdl_localization and AMCL, and then I modify the code for both L415 and L422 to "odom_trans.header.stamp = stamp + ros::Duration(0.2);".

There are no errors and it can work. But I don't know why it went wrong and I don't know if my workaround is correct.

[JiaoxianDu]

Same problem, and your solution works for me. I think It's just because the map->odom tf trans sent by hdl_localization is too slow. At first I thought there must be a better way to fix this, until I checked codes from amcl_node.cpp (line 1496):

      if (tf_broadcast_ == true)
      {
        // We want to send a transform that is good up until a
        // tolerance time so that odom can be used
        ros::Time transform_expiration = (laser_scan->header.stamp +
                                          transform_tolerance_);
        geometry_msgs::TransformStamped tmp_tf_stamped;
        tmp_tf_stamped.header.frame_id = global_frame_id_;
        tmp_tf_stamped.header.stamp = transform_expiration;
        tmp_tf_stamped.child_frame_id = odom_frame_id_;
        tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform);

        ROS_INFO("tmp_tf_stamped.transform: %6.3f, %6.3f, %6.3f", 
                tmp_tf_stamped.transform.translation.x,
                tmp_tf_stamped.transform.translation.y,
                tf2::getYaw(tmp_tf_stamped.transform.rotation));

        this->tfb_->sendTransform(tmp_tf_stamped);
        sent_first_transform_ = true;
      }

So it's called tolerance, they add transform_tolerance_ to laser_scan's stamp, and send it to tf tree, just as what you did. 👍