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stella-cv / stella_vslam_ros

ROS package for stella_vslam
https://stella-cv.rtfd.io/en/latest/
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Sometimes tf lookups fail #143

Closed ymd-stella closed 1 year ago

ymd-stella commented 1 year ago

Describe the bug

There may be data left in the TransformListener message queue (depth=100), resulting in warnings like #106.

[ERROR] [...]: Transform failed: Lookup would require extrapolation xxx s into the future.  Requested time yyy but the latest data is at time zzz, when looking up transform from frame [odom] to frame [camera_color_optical_frame]

Callbacks must be called fast enough in a dedicated thread.

To Reproduce

  1. Pubslish tf from odom to base_link at 100Hz.
  2. Run run_vslam (with publish_tf=true)
  3. Warnings are shown in the console.

Expected behavior

Run without warnings

Environment

Images are retrieved using theta_driver. This issue may be caused by communication between containers.

ymd-stella commented 1 year ago

It was caused by the stella_vslam_ros container being separated from the container serving tf. I combined the containers into one and it solved the problem.