Incorrect TF transform

[tsukione]

There is a incorrect TF transform in a moment,

It could be reproduced by the rosbag and reproduce.rviz in the zip file

incorrect_tf_transform.zip

I have checked the tf data frame by frame in rosbag, the data seems normal.

Your environment

• OS Version: Ubuntu 18.04
• ROS Distro: Melodic
• RViz, Qt, OGRE, OpenGl version as printed by rviz:

  [ INFO] [1649385616.809809680]: rviz version 1.13.24
  [ INFO] [1649385616.809844552]: compiled against Qt version 5.9.5
  [ INFO] [1649385616.809852359]: compiled against OGRE version 1.9.0 (Ghadamon)
  [ INFO] [1649385616.812327294]: Forcing OpenGl version 0.
  [ INFO] [1649385617.079630994]: Stereo is NOT SUPPORTED

• If source build, which git commit?
• System locale, i.e. the output of echo "$LANG $LC_NUMERIC": Before reporting a rendering issue, try running RViz with LANG=C rviz!

[rhaschke]

I don't yet believe this is an rviz issue. Please analyse your TFs in more detail. If you can pinpoint a specific TF message that's causing the issue, I'm happy to have look. Maybe it's related to a jump in time? You could play your rosbag with --rate=FACTOR to slow down publishing.

[rhaschke]

Carefully monitoring the transform map -> body reveals that this transform changes orientation from time 1579178476.09 to 1579178476.19, resulting in the observed glitch:

    header: 
      seq: 6427
      stamp: 
        secs: 1579178476
        nsecs:  90714185
      frame_id: "/map"
    child_frame_id: "/body"
    transform: 
      translation: 
        x: 660.9413619666593
        y: -171.05490377591923
        z: 0.33
      rotation: 
        x: 0.004361930060409506
        y: 0.008665464901892255
        z: 0.7051528692946266
        w: 0.7089889380023765

    header: 
      seq: 6431
      stamp: 
        secs: 1579178476
        nsecs: 190715185
      frame_id: "/map"
    child_frame_id: "/body"
    transform: 
      translation: 
        x: 660.9240520694293
        y: -170.16853572428226
        z: 0.33
      rotation: 
        x: 0.009107668952394725
        y: 0.003738851780159613
        z: -3.405387255255412e-05
        w: 0.9999515339224964