Warnings when a child-frame of a parent which is not the planning-frame is removed

[firesurfer]

Description

The same as https://github.com/ros-planning/moveit/issues/1398

Happens also with moveit2. Only difference is that disableing the internal octomap doesn't seem to make any difference.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 20.04
• Binary
• Cyclone

Steps to reproduce

I publish a helper tf frame at some point of time that I use for some manipulation tasks. This frame is not published anymore after my manipulation work is done.

Move it then starts spamming these warnings even though I do not issue any new planning request that have that frame involved:

[winder_moveit_node-16] [WARN] [1676632009.316737789] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'helper_frame' to planning frame'world' (Lookup would require extrapolation into the past.  Requested time 1676631704.540642 but the earliest data is at time 1676631999.343344, when looking up transform from frame [helper_frame] to frame [world])

Expected behaviour

No warning should be printed if frame is not published anymore but also not used

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[firesurfer]

Just to avoid having this issue closed due to being stale and in order to help anyone who runs into the same issue.

A possible workaround is to set the loglevel of the corresponding logger to Error:

 rclcpp::get_logger("moveit_ros.planning_scene_monitor.planning_scene_monitor").set_level(rclcpp::Logger::Level::Error);

Just be warned that this might also hide other warnings!

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.