Hi all,
I'm trying to use moveit it to control a turtlebot arm mounted on turtlebot. When I run my moveit.launch file, there's always a transform error:
[ERROR] [1543219008.768123467]: Transform error: Lookup would require extrapolation into the future. Requested time 1543219008.716465048 but the latest data is at time 1543219008.605108938, when looking up transform from frame [wheel_left_link] to frame [camera_rgb_optical_frame]
[ERROR] [1543219008.768212737]: Transform cache was not updated. Self-filtering may fail.
[ERROR] [1543219009.818338395]: Transform error: Lookup would require extrapolation into the future. Requested time 1543219009.718358101 but the latest data is at time 1543219009.712928056, when looking up transform from frame [arm_wrist_flex_servo_link] to frame [camera_rgb_optical_frame]
[ERROR] [1543219009.818410744]: Transform cache was not updated. Self-filtering may fail.
[ERROR] [1543219011.771677221]: Transform error: Lookup would require extrapolation into the future. Requested time 1543219011.720434783 but the latest data is at time 1543219011.650256141, when looking up transform from frame [wheel_left_link] to frame [camera_rgb_optical_frame]
[ERROR] [1543219011.771738074]: Transform cache was not updated. Self-filtering may fail.
I then used tf view_frames to check the rate of each frame is pubshed at, and I found there are few frames are published at a very low rate:
Is this low publishing rate causing the transform error? Why those tf frames are published at different rate while they were published by the same node? How can I fix this?
eidt 1:
CPU usage:
Many thanks!
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