"Self-filtering may fail" because of missing waitForTransform

[mintar]

I keep sporadically getting errors like this when using the DepthImageOctomapUpdater:

Transform error: Lookup would require extrapolation into the future.  Requested time 1401446451.006236446 but the latest data is at time 1401446450.937553891, when looking up transform from frame [katana_motor2_lift_link] to frame [kinect_rgb_optical_frame]
[ERROR] [1401446451.007936297]: Transform cache was not updated. Self-filtering may fail.

This message originates from depth_image_octomap_updater.cpp:285. It looks to me as if there was a waitForTransform() missing in planning_scene_monitor.cpp:818: When lookupTransform() is called with the time stamp from the the DepthImage, sometimes the TF buffer for that time isn't filled yet (in this case, it is 0.07 seconds behind), thereby triggering a race condition.

The Katana arm I'm working with can only publish joint states at 25 Hz, so maybe that's why this race condition happens more frequently than with other robots.

[mintar]

BTW, I'm on Hydro on Precise, using the latest Moveit binary debs.

[davetcoleman]

I always get that error too, with Baxter, and am interested in fixing it as
well.
On May 31, 2014 9:16 PM, "Martin Günther" notifications@github.com wrote:

BTW, I'm on Hydro on Precise, using the latest Moveit binary debs.

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#465 (comment)
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[mintar]

It probably isn't hard to fix: as I wrote, all it needs is probably a few strategically placed waitForTransform()s in planning_scene_monitor. However, I'm out of office for the next couple of months, so I can't do it myself. Also, we should make sure that we don't build up a long queue of unprocessed messages when lots of waitForTransform()s time out in sequence (for example, if the TF publisher is on holiday for a long time). I guess we really only want to wait if we're not already more than 0.1 - 0.2 seconds behind "now" (and that delay should probably be a parameter). Still sounds like a doable pull request (wink).

[jbohren]

See #540 for a fix

[arpit15]

I am using Moveit in Indigo and ubuntu 14.04. I am still getting an error on similar lines.
[ERROR] [1492050356.981666496]: Transform error: Lookup would require extrapolation into the future. Requested time 1492050356.311039301 but the latest data is at time 1492050308.434982148, when looking up transform from frame [head] to frame [camera_rgb_optical_frame] [ERROR] [1492050356.981708685]: Transform cache was not updated. Self-filtering may fail.
I manually checked for the commits mentioned on this thread. All the changes are there in the moveit version I am using.
I am trying to use realsense_camera with the baxter_gripper.launch file. My yaml file is here and my baxter_moveit_sensor_manager.xml is here

[arpit15]

The error was because of constant time difference between my system and baxter. I manually changed the time of my system to match that of baxter to fix the problem.