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报错内容为:
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.600528833] [lio_sam_imuPreintegration]: Could not find a connection between 'lidar_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.662496183] [lio_sam_imuPreintegration]: Lookup would require extrapolation at time 1711012939.249872, but only time 1711012939.600189 is in the buffer, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.723478771] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.249872 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.785574438] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.846604469] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.910756994] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012940.033550766] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012940.033828606] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
The text was updated successfully, but these errors were encountered:
My tf tree while running lio-sam is shown in the following figure:
The error message is:
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.600528833] [lio_sam_imuPreintegration]: Could not find a connection between 'lidar_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.662496183] [lio_sam_imuPreintegration]: Lookup would require extrapolation at time 1711012939.249872, but only time 1711012939.600189 is in the buffer, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.723478771] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.249872 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.785574438] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.846604469] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.910756994] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012940.033550766] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012940.033828606] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
我在运行lio-sam时的tf tree如下图所示:
![微信图片_20240322011058](https://private-user-images.githubusercontent.com/144189590/315848493-220f6430-1087-44be-84b2-ddbd89cce88e.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjEyNDEzODAsIm5iZiI6MTcyMTI0MTA4MCwicGF0aCI6Ii8xNDQxODk1OTAvMzE1ODQ4NDkzLTIyMGY2NDMwLTEwODctNDRiZS04NGIyLWRkYmQ4OWNjZTg4ZS5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzE3JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxN1QxODMxMjBaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00MjNkNTNhYWNiZjk3M2RkMWYwYWRmZDQ2OWQ3YmNmZjgxOGEzMGNhNTYwZDJkNTRjMWU2MjE0OGRhYTdmMmQxJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.UC2PZQALAjFy9MnPjKNlByD3baGbgEdoYV64doiRBTk)
报错内容为:
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.600528833] [lio_sam_imuPreintegration]: Could not find a connection between 'lidar_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.662496183] [lio_sam_imuPreintegration]: Lookup would require extrapolation at time 1711012939.249872, but only time 1711012939.600189 is in the buffer, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.723478771] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.249872 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.785574438] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.846604469] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012939.910756994] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012940.033550766] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
[lio_sam_imuPreintegration-3] [ERROR] [1711012940.033828606] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1711012939.552636 but the earliest data is at time 1711012939.600189, when looking up transform from frame [base_link] to frame [lidar_link]
The text was updated successfully, but these errors were encountered: