Comments (2)
Maybe i found the reason for this error, you can correct this error by adding function
waitForTransform( * ,ros::Duration(3.0));
before .lookupTransform() int the project.
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@Zyhlibrary this solution worked for me, thanks!
For clarification on what to do:
Go into:
catkin_ws/src/nbvplanner/nbvplanner/src/rrt.cpp
and do Ctrl + F
and simply search for .lookupTransform
. You should find it in 4 places.
Right above each .lookupTransform
in the first 3 cases, simply add the line
listener.waitForTransform(params_.navigationFrame_, pose.header.frame_id, pose.header.stamp, ros::Duration(3.0));
and it the last case add
listener.waitForTransform(targetFrame, params_.navigationFrame_, ros::Time(0), ros::Duration(3.0));
Then head over to:
catkin_ws/src/nbvplanner/prune_pointcloud/src/prune.cc
Find the .lookupTransform
as described above and add the line
tf_listener_.waitForTransform(pointcloudIn->header.frame_id, *it, time_to_lookup, ros::Duration(3.0));
above it.
Then run catkin build
and try to launch the program again.
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Related Issues (20)
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