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ros-perception / slam_gmapping

http://www.ros.org/wiki/slam_gmapping
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map stamp error #75

Open crankler opened 5 years ago

crankler commented 5 years ago

When I use gmapping for save my map , I can alway see the error in tf, so I check my tf tree, it's right, but when I run rosrun tf tf_echo /map /base_link, there show

Failure at 1558399180.795866256 Exception thrown:Lookup would require extrapolation into the past. Requested time 40.363000000 but the earliest data is at time 1558399175.095931223, when looking up transform from frame [base_link] to frame [map]

so I echo map and base_link and find that map's stamp is:

header: seq: 0 stamp: secs: 1558398434 nsecs: 917620709 frame_id: "map"

But my odom and base_link and other link are all transfome to secs, just as follow:

header: seq: 1865 stamp: secs: 37 nsecs: 657000000 frame_id: "odom" child_frame_id: "base_link"

So how can I do , can you give me some advice? Thank you for your help!