Could not get transform from odom to base_link after 0.500000 seconds

[Z-Jeff]

Preliminary Checks

• [X] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

When running roslaunch zed_rtabmap_example zed_rtabmap.launch, there occurs an error. How can I solve this error?

[ WARN] [1655283883.299755529]: Could not get transform from odom to base_link after 0.500000 seconds (for stamp=1655283881.908463)! Error="Lookup would require extrapolation into the future. Requested time 1655283881.908463391 but the latest data is at time 1655283881.166989692, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.503115 timeout was 0.5.".

Steps to Reproduce

roslaunch zed_rtabmap_example zed_rtabmap.launch

Expected Result

No errors.

Actual Result

The program works well at begin. But after a durantion, the program doesn't work and an error occurs :

[ WARN] [1655283883.299755529]: Could not get transform from odom to base_link after 0.500000 seconds (for stamp=1655283881.908463)! Error="Lookup would require extrapolation into the future. Requested time 1655283881.908463391 but the latest data is at time 1655283881.166989692, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.503115 timeout was 0.5.".

ZED Camera model

ZED2

Environment

Hardware: NVIDIA TX2
ROS: ros-melodic

Anything else?

No response

[Myzhar]

Hi @Z-Jeff are you also showing the results of the processing on the TX2 or are you sending them to a remote Rviz?

[Z-Jeff]

I just run roslaunch zed_rtabmap_example zed_rtabmap.launch on TX2, and nothing more. It should only use the local Rviz in zed_rtabmap.launch.

[Myzhar]

Rviz is a high demanding application, summed to RTABmap and ZED SDK processing they push the TX2 over its limits, and the TF messages are so slowed down. I suggest you do not run Rviz on the TX2, running it instead on a remote machine on the same local network.

[github-actions[bot]]

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days

[github-actions[bot]]

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days