Problem with FUNMAP

Humberto_Andres_Hida · December 5, 2023, 5:42pm

I have a problem when i try to launch the FUNMAP launch file (it is not working), I don’t see the robot in RVIZ and the terminal print the next message:

[ WARN] [1701797965.067155001]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134948220s into the future.  Requested time 1701797964.843264580 but the latest data is at time 1701797964.708316326, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1701797965.189406503]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122672756s into the future.  Requested time 1701797964.965937138 but the latest data is at time 1701797964.843264580, when looking up transform from frame [base_link] to frame [odom]
[funmap-10] process has died [pid 2979, exit code 1, cmd /home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/nodes/funmap --load_map  __name:=funmap __log:=/home/hello-robot/.ros/log/38ca38e2-9395-11ee-8198-93fdfdd3140c/funmap-10.log].
log file: /home/hello-robot/.ros/log/38ca38e2-9395-11ee-8198-93fdfdd3140c/funmap-10*.log
[ WARN] [1701797965.324915424]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122787734s into the future.  Requested time 1701797965.088725090 but the latest data is at time 1701797964.965937138, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1701797965.447081137]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135157140s into the future.  Requested time 1701797965.223882198 but the latest data is at time 1701797965.088725090, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1701797965.582581391]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122864320s into the future.  Requested time 1701797965.346746445 but the latest data is at time 1701797965.223882198, when looking up transform from frame [base_link] to frame [odom]
[INFO] [1701797965.606624]: mode = position
[INFO] [1701797965.608213]: /stretch_driver: Changed to mode = position
[INFO] [1701797965.609837]: broadcast_odom_tf = False
[INFO] [1701797965.611482]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/controller_calibration_head.yaml
[INFO] [1701797965.618955]: controller parameters loaded = {'arm_retracted_offset': 0.0025290283993012154, 'pan_angle_offset': 0.05370401639426355, 'pan_looked_left_offset': 0.0015576428725509596, 'tilt_angle_backlash_transition': -0.4, 'tilt_angle_offset': -0.04653908482546884, 'tilt_looking_up_offset': -0.021135309455911962}
[INFO] [1701797965.621088]: head_tilt_calibrated_offset_rad in degrees = -2.666493142900698
[INFO] [1701797965.622432]: head_pan_calibrated_offset_rad in degrees = 3.0770134822926827
[INFO] [1701797965.623518]: head_pan_calibrated_looked_left_offset_rad in degrees = 0.08924636258580397
[INFO] [1701797965.628003]: head_tilt_backlash_transition_angle_rad in degrees = -22.918311805232932
[INFO] [1701797965.631222]: head_tilt_calibrated_looking_up_offset_rad in degrees = -1.2109640305266958
[INFO] [1701797965.633037]: arm_calibrated_retracted_offset_m in meters = 0.0025290283993012154
[INFO] [1701797965.678462]: /stretch_driver rate = 30.0 Hz
[INFO] [1701797965.679468]: /stretch_driver timeout = 0.5 s
[INFO] [1701797965.681084]: /stretch_driver use_fake_mechaduinos = False
[INFO] [1701797965.682072]: /stretch_driver base_frame_id = base_link
[INFO] [1701797965.686094]: /stretch_driver odom_frame_id = odom
[ WARN] [1701797965.705496973]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135035572s into the future.  Requested time 1701797965.481781960 but the latest data is at time 1701797965.346746445, when looking up transform from frame [base_link] to frame [odom]

bshah · December 6, 2023, 8:00pm

Hi @Humberto_Andres_Hida, looks like your log is incomplete. The errors that would have caused the FUNMAP process to die are likely earlier in the console output. Can you copy the entire output of the command here?

Humberto_Andres_Hida · December 11, 2023, 3:30pm

the message is too long so i gonna separate in three messages:

roslaunch stretch_funmap mapping.launch
... logging to /home/hello-robot/.ros/log/940bad6a-9838-11ee-abec-87934603d30e/roslaunch-stretch-re2-2005-5483.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://172.16.0.205:33701/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 63
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: True
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: 15
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 720
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 1280
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: 15
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 720
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 1280
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: False
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: True
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: True
 * /camera/realsense2_camera/filters: pointcloud
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: 200
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: True
 * /camera/realsense2_camera/json_file_path: /home/hello-robot...
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /d435i_configure/initial_mode: High Accuracy
 * /funmap/debug_directory: /home/hello-robot...
 * /joint_state_publisher/rate: 30.0
 * /joint_state_publisher/source_list: ['/stretch/joint_...
 * /laser_filter/scan_filter_chain: [{'name': 'shadow...
 * /laser_scan_matcher_node/fixed_frame: odom
 * /laser_scan_matcher_node/max_angular_correction_deg: 20.0
 * /laser_scan_matcher_node/max_iterations: 10
 * /laser_scan_matcher_node/max_linear_correction: 0.2
 * /laser_scan_matcher_node/use_imu: False
 * /lidar_node/angle_compensate: True
 * /lidar_node/frame_id: laser
 * /lidar_node/inverted: False
 * /lidar_node/scan_mode: Boost
 * /lidar_node/serial_baudrate: 115200
 * /lidar_node/serial_port: /dev/hello-lrf
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /stretch_driver/broadcast_odom_tf: False
 * /stretch_driver/controller_calibration_file: /home/hello-robot...
 * /stretch_driver/fail_out_of_range_goal: False
 * /stretch_driver/rate: 30.0
 * /stretch_driver/timeout: 0.5

NODES
  /
    d435i_accel_correction (stretch_core/d435i_accel_correction)
    d435i_configure (stretch_core/d435i_configure)
    d435i_frustum_visualizer (stretch_core/d435i_frustum_visualizer)
    funmap (stretch_funmap/funmap)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    keyboard_teleop (stretch_core/keyboard_teleop)
    laser_filter (laser_filters/scan_to_scan_filter_chain)
    laser_scan_matcher_node (laser_scan_matcher/laser_scan_matcher_node)
    lidar_node (rplidar_ros/rplidarNode)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    stretch_driver (stretch_core/stretch_driver)
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://172.16.0.205:11311/

process[d435i_accel_correction-1]: started with pid [5504]
process[camera/realsense2_camera_manager-2]: started with pid [5505]
process[camera/realsense2_camera-3]: started with pid [5506]
process[d435i_configure-4]: started with pid [5507]
process[d435i_frustum_visualizer-5]: started with pid [5508]
process[joint_state_publisher-6]: started with pid [5513]
process[robot_state_publisher-7]: started with pid [5515]
process[stretch_driver-8]: started with pid [5516]
process[funmap-9]: started with pid [5517]
[ WARN] [1702308247.354247797]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
process[lidar_node-10]: started with pid [5522]
process[laser_filter-11]: started with pid [5532]
[ INFO] [1702308247.382098844]: Initializing nodelet with 8 worker threads.
process[laser_scan_matcher_node-12]: started with pid [5539]
[ INFO] [1702308247.383693296]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0
process[keyboard_teleop-13]: started with pid [5560]
[ INFO] [1702308247.431148822]: RPLIDAR S/N: BB89ED93C0EA98C6C2E29EF549534061
[ INFO] [1702308247.431212107]: Firmware Ver: 1.29
[ INFO] [1702308247.431239734]: Hardware Rev: 7
process[rviz-14]: started with pid [5577]
[ INFO] [1702308247.443192172]: Starting LaserScanMatcher
[ INFO] [1702308247.482464075]: RPLidar health status : OK.
[ INFO] [1702308247.678678734]: RealSense ROS v2.3.2
[ INFO] [1702308247.678879539]: Built with LibRealSense v2.50.0
[ INFO] [1702308247.679059797]: Running with LibRealSense v2.50.0
[ INFO] [1702308247.758947556]:  
[ INFO] [1702308247.788909375]: current scan mode: Boost, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz, 
[INFO] [1702308247.916739]: /d435i_accel_correction started
[ INFO] [1702308247.956692625]: rviz version 1.14.20
[ INFO] [1702308247.956742659]: compiled against Qt version 5.12.8
[ INFO] [1702308247.956755541]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1702308247.968445991]: Forcing OpenGl version 0.
[INFO] [1702308247.998998]: /d435i_frustum_visualizer started
[INFO] [1702308248.122079]: /keyboard_teleop started
[ INFO] [1702308248.369183706]: Device with serial number 112322076676 was found.

[ INFO] [1702308248.369243920]: Device with physical ID 4-1-3 was found.
[ INFO] [1702308248.369275570]: Device with name Intel RealSense D435I was found.
[ INFO] [1702308248.369922348]: Device with port number 4-1 was found.
[ INFO] [1702308248.369971641]: Device USB type: 3.2
[ INFO] [1702308248.370011416]: Resetting device...
Traceback (most recent call last):
  File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/nodes/funmap", line 37, in <module>
    import stretch_funmap.merge_maps as mm
  File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/src/stretch_funmap/merge_maps.py", line 10, in <module>
    import stretch_funmap.navigation_planning as na
  File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/src/stretch_funmap/navigation_planning.py", line 5, in <module>
    import stretch_funmap.cython_min_cost_path as cm
ModuleNotFoundError: No module named 'stretch_funmap.cython_min_cost_path'
[INFO] [rospy.topics]: topicmanager initialized
[funmap-9] process has died [pid 5517, exit code 1, cmd /home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/nodes/funmap --load_map  __name:=funmap __log:=/home/hello-robot/.ros/log/940bad6a-9838-11ee-abec-87934603d30e/funmap-9.log].
log file: /home/hello-robot/.ros/log/940bad6a-9838-11ee-abec-87934603d30e/funmap-9*.log
[ INFO] [1702308248.889082189]: Stereo is NOT SUPPORTED
[ INFO] [1702308248.889169511]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits)
[ INFO] [1702308248.889203618]: OpenGl version: 3.1 (GLSL 1.4).
[INFO] [1702308248.975430]: For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
[INFO] [1702308248.977315]: /stretch_driver started
[ WARN] [1702308249.370040728]: Could not get base to fixed frame transform, "odom" passed to lookupTransform argument fixed_frame does not exist. 
[ WARN] [1702308249.491908529]: Could not get base to fixed frame transform, Lookup would require extrapolation at time 1702308249.268476009, but only time 1702308247.788952589 is in the buffe, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308249.627104762]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.123029223s into the future.  Requested time 1702308249.391505241 but the latest data is at time 1702308249.268476009, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308249.762145687]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134845987s into the future.  Requested time 1702308249.526351213 but the latest data is at time 1702308249.391505241, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308249.885693302]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135193080s into the future.  Requested time 1702308249.661544323 but the latest data is at time 1702308249.526351213, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.020521252]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122924930s into the future.  Requested time 1702308249.784469128 but the latest data is at time 1702308249.661544323, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.155630313]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135097810s into the future.  Requested time 1702308249.919567108 but the latest data is at time 1702308249.784469128, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.278677181]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135002648s into the future.  Requested time 1702308250.054569721 but the latest data is at time 1702308249.919567108, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.412947382]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122995298s into the future.  Requested time 1702308250.177564859 but the latest data is at time 1702308250.054569721, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.548372402]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134972766s into the future.  Requested time 1702308250.312537670 but the latest data is at time 1702308250.177564859, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.671462311]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135016956s into the future.  Requested time 1702308250.447554588 but the latest data is at time 1702308250.312537670, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.805909804]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.123026858s into the future.  Requested time 1702308250.570581436 but the latest data is at time 1702308250.447554588, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308250.929371137]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134991438s into the future.  Requested time 1702308250.705573082 but the latest data is at time 1702308250.570581436, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308251.064639853]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122890560s into the future.  Requested time 1702308250.828463554 but the latest data is at time 1702308250.705573082, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308251.198803109]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135048574s into the future.  Requested time 1702308250.963512182 but the latest data is at time 1702308250.828463554, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308251.322188079]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134967574s into the future.  Requested time 1702308251.098479748 but the latest data is at time 1702308250.963512182, when looking up transform from frame [base_link] to frame [odom]

Humberto_Andres_Hida · December 11, 2023, 3:31pm

[INFO] [1702308251.427608]: mode = position
[INFO] [1702308251.428739]: /stretch_driver: Changed to mode = position
[INFO] [1702308251.430461]: broadcast_odom_tf = False
[INFO] [1702308251.431825]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/controller_calibration_head.yaml
[INFO] [1702308251.433528]: controller parameters loaded = {'arm_retracted_offset': 0.0025290283993012154, 'pan_angle_offset': 0.05370401639426355, 'pan_looked_left_offset': 0.0015576428725509596, 'tilt_angle_backlash_transition': -0.4, 'tilt_angle_offset': -0.04653908482546884, 'tilt_looking_up_offset': -0.021135309455911962}
[INFO] [1702308251.434357]: head_tilt_calibrated_offset_rad in degrees = -2.666493142900698
[INFO] [1702308251.435274]: head_pan_calibrated_offset_rad in degrees = 3.0770134822926827
[INFO] [1702308251.436129]: head_pan_calibrated_looked_left_offset_rad in degrees = 0.08924636258580397
[INFO] [1702308251.438822]: head_tilt_backlash_transition_angle_rad in degrees = -22.918311805232932
[INFO] [1702308251.440598]: head_tilt_calibrated_looking_up_offset_rad in degrees = -1.2109640305266958
[INFO] [1702308251.442706]: arm_calibrated_retracted_offset_m in meters = 0.0025290283993012154
[ WARN] [1702308251.457060870]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122966515s into the future.  Requested time 1702308251.221446276 but the latest data is at time 1702308251.098479748, when looking up transform from frame [base_link] to frame [odom]
[INFO] [1702308251.481730]: /stretch_driver rate = 30.0 Hz
[INFO] [1702308251.482853]: /stretch_driver timeout = 0.5 s
[INFO] [1702308251.484185]: /stretch_driver use_fake_mechaduinos = False
[INFO] [1702308251.484967]: /stretch_driver base_frame_id = base_link
[INFO] [1702308251.486041]: /stretch_driver odom_frame_id = odom
[ WARN] [1702308251.592097302]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135036328s into the future.  Requested time 1702308251.356482506 but the latest data is at time 1702308251.221446276, when looking up transform from frame [base_link] to frame [odom]
[INFO] [1702308251.618817]: Node /keyboard_teleop connected to robot services.
[INFO] [1702308251.620311]: Node /keyboard_teleop waiting to connect to /funmap/trigger_head_scan.
[INFO] [1702308251.675703]: /d435i_configure started
[ WARN] [1702308251.714667080]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135010630s into the future.  Requested time 1702308251.491493225 but the latest data is at time 1702308251.356482506, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308251.850059823]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122900187s into the future.  Requested time 1702308251.614393473 but the latest data is at time 1702308251.491493225, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308251.985264767]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135149633s into the future.  Requested time 1702308251.749542952 but the latest data is at time 1702308251.614393473, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308252.108159082]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135155477s into the future.  Requested time 1702308251.884698391 but the latest data is at time 1702308251.749542952, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308252.244305699]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122912977s into the future.  Requested time 1702308252.007611513 but the latest data is at time 1702308251.884698391, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308252.378996091]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135176220s into the future.  Requested time 1702308252.142787695 but the latest data is at time 1702308252.007611513, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308252.501990544]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134971041s into the future.  Requested time 1702308252.277758598 but the latest data is at time 1702308252.142787695, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308252.636762364]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122926492s into the future.  Requested time 1702308252.400685310 but the latest data is at time 1702308252.277758598, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308252.771857928]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134968725s into the future.  Requested time 1702308252.535653830 but the latest data is at time 1702308252.400685310, when looking up transform from frame [base_link] to frame [odom]
Waiting for service /camera/stereo_module/set_parameters...
[ WARN] [1702308252.894679362]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135032565s into the future.  Requested time 1702308252.670686483 but the latest data is at time 1702308252.535653830, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.029454270]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.123056933s into the future.  Requested time 1702308252.793743372 but the latest data is at time 1702308252.670686483, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.165016421]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135038643s into the future.  Requested time 1702308252.928781986 but the latest data is at time 1702308252.793743372, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.288349747]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135234415s into the future.  Requested time 1702308253.064016581 but the latest data is at time 1702308252.928781986, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.422373476]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122874300s into the future.  Requested time 1702308253.186890841 but the latest data is at time 1702308253.064016581, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.558031736]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134994083s into the future.  Requested time 1702308253.321884871 but the latest data is at time 1702308253.186890841, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.680090035]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134898116s into the future.  Requested time 1702308253.456783056 but the latest data is at time 1702308253.321884871, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.815135778]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122961942s into the future.  Requested time 1702308253.579744816 but the latest data is at time 1702308253.456783056, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308253.950157137]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134853208s into the future.  Requested time 1702308253.714598179 but the latest data is at time 1702308253.579744816, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308254.072946209]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135095110s into the future.  Requested time 1702308253.849693298 but the latest data is at time 1702308253.714598179, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308254.208559974]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122951571s into the future.  Requested time 1702308253.972644806 but the latest data is at time 1702308253.849693298, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308254.344094145]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135189567s into the future.  Requested time 1702308254.107834339 but the latest data is at time 1702308253.972644806, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308254.466645438]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135146512s into the future.  Requested time 1702308254.242980957 but the latest data is at time 1702308254.107834339, when looking up transform from frame [base_link] to frame [odom]
[ INFO] [1702308254.506503696]:  
[ WARN] [1702308254.601033092]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122763644s into the future.  Requested time 1702308254.365744591 but the latest data is at time 1702308254.242980957, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308254.736498223]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134922882s into the future.  Requested time 1702308254.500667334 but the latest data is at time 1702308254.365744591, when looking up transform from frame [base_link] to frame [odom]
[ INFO] [1702308254.759609851]: Device with serial number 112322076676 was found.

[ INFO] [1702308254.759659299]: Device with physical ID 4-1-4 was found.
[ INFO] [1702308254.759678928]: Device with name Intel RealSense D435I was found.
[ INFO] [1702308254.760252143]: Device with port number 4-1 was found.
[ INFO] [1702308254.760287798]: Device USB type: 3.2
[ INFO] [1702308254.762517422]: getParameters...
[ INFO] [1702308254.818066632]: setupDevice...
[ WARN] [1702308254.859594171]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135107264s into the future.  Requested time 1702308254.635774612 but the latest data is at time 1702308254.500667334, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308254.994919300]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122840418s into the future.  Requested time 1702308254.758615017 but the latest data is at time 1702308254.635774612, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308255.117211844]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135087201s into the future.  Requested time 1702308254.893702269 but the latest data is at time 1702308254.758615017, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308255.252090898]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122918246s into the future.  Requested time 1702308255.016620636 but the latest data is at time 1702308254.893702269, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308255.387963904]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135034397s into the future.  Requested time 1702308255.151654959 but the latest data is at time 1702308255.016620636, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308255.510855145]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135071156s into the future.  Requested time 1702308255.286725998 but the latest data is at time 1702308255.151654959, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308255.645939997]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122982938s into the future.  Requested time 1702308255.409708977 but the latest data is at time 1702308255.286725998, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308255.780027611]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134961168s into the future.  Requested time 1702308255.544670105 but the latest data is at time 1702308255.409708977, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308255.902856912]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134973323s into the future.  Requested time 1702308255.679643631 but the latest data is at time 1702308255.544670105, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.038889509]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122992827s into the future.  Requested time 1702308255.802636385 but the latest data is at time 1702308255.679643631, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.173412969]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135025495s into the future.  Requested time 1702308255.937661886 but the latest data is at time 1702308255.802636385, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.296211309]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135161969s into the future.  Requested time 1702308256.072823763 but the latest data is at time 1702308255.937661886, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.431379474]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122821134s into the future.  Requested time 1702308256.195644855 but the latest data is at time 1702308256.072823763, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.566843224]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135061005s into the future.  Requested time 1702308256.330705881 but the latest data is at time 1702308256.195644855, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.689870281]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135139614s into the future.  Requested time 1702308256.465845585 but the latest data is at time 1702308256.330705881, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.824864537]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122850349s into the future.  Requested time 1702308256.588696003 but the latest data is at time 1702308256.465845585, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308256.947366125]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135020641s into the future.  Requested time 1702308256.723716497 but the latest data is at time 1702308256.588696003, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308257.082927014]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.123326346s into the future.  Requested time 1702308256.847042799 but the latest data is at time 1702308256.723716497, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308257.217981072]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134638974s into the future.  Requested time 1702308256.981681824 but the latest data is at time 1702308256.847042799, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308257.341417526]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135234570s into the future.  Requested time 1702308257.116916418 but the latest data is at time 1702308256.981681824, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308257.475449891]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.123006370s into the future.  Requested time 1702308257.239922762 but the latest data is at time 1702308257.116916418, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308257.611402161]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134961020s into the future.  Requested time 1702308257.374883890 but the latest data is at time 1702308257.239922762, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308257.734155547]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135042778s into the future.  Requested time 1702308257.509926558 but the latest data is at time 1702308257.374883890, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308257.868530418]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122876078s into the future.  Requested time 1702308257.632802725 but the latest data is at time 1702308257.509926558, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308258.004568512]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135074409s into the future.  Requested time 1702308257.767877102 but the latest data is at time 1702308257.632802725, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308258.126130907]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135513115s into the future.  Requested time 1702308257.903390169 but the latest data is at time 1702308257.767877102, when looking up transform from frame [base_link] to frame [odom]

Humberto_Andres_Hida · December 11, 2023, 3:32pm

[ INFO] [1702308258.155972431]: JSON file is loaded! (/home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/HighAccuracyPreset.json)
[ INFO] [1702308258.156048927]: ROS Node Namespace: camera
[ INFO] [1702308258.156080738]: Device Name: Intel RealSense D435I
[ INFO] [1702308258.156102764]: Device Serial No: 112322076676
[ INFO] [1702308258.156137287]: Device physical port: 4-1-4
[ INFO] [1702308258.156174658]: Device FW version: 05.13.00.50
[ INFO] [1702308258.156217099]: Device Product ID: 0x0B3A
[ INFO] [1702308258.156256511]: Enable PointCloud: On
[ INFO] [1702308258.156282159]: Align Depth: On
[ INFO] [1702308258.156302371]: Sync Mode: On
[ INFO] [1702308258.156387138]: Device Sensors: 
[ WARN] [1702308258.261773330]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122423054s into the future.  Requested time 1702308258.025813341 but the latest data is at time 1702308257.903390169, when looking up transform from frame [base_link] to frame [odom]
[ INFO] [1702308258.264552233]: Stereo Module was found.
[ INFO] [1702308258.297602316]: RGB Camera was found.
[ INFO] [1702308258.297816795]: Motion Module was found.
[ INFO] [1702308258.298237766]: Add Filter: pointcloud
[ INFO] [1702308258.298965897]: num_filters: 2
[ INFO] [1702308258.299002345]: Setting Dynamic reconfig parameters.
[ WARN] [1702308258.396607595]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135295975s into the future.  Requested time 1702308258.161109209 but the latest data is at time 1702308258.025813341, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308258.519942452]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134769035s into the future.  Requested time 1702308258.295878172 but the latest data is at time 1702308258.161109209, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308258.654376329]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122763197s into the future.  Requested time 1702308258.418641567 but the latest data is at time 1702308258.295878172, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308258.789451932]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135162393s into the future.  Requested time 1702308258.553803921 but the latest data is at time 1702308258.418641567, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308258.912333574]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135109479s into the future.  Requested time 1702308258.688913345 but the latest data is at time 1702308258.553803921, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.048194068]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122839421s into the future.  Requested time 1702308258.811752796 but the latest data is at time 1702308258.688913345, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.170334814]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135141869s into the future.  Requested time 1702308258.946894646 but the latest data is at time 1702308258.811752796, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.305381735]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122991306s into the future.  Requested time 1702308259.069885969 but the latest data is at time 1702308258.946894646, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.441538894]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135006247s into the future.  Requested time 1702308259.204892159 but the latest data is at time 1702308259.069885969, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.563643915]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135285198s into the future.  Requested time 1702308259.340177298 but the latest data is at time 1702308259.204892159, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.698822519]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122627607s into the future.  Requested time 1702308259.462805033 but the latest data is at time 1702308259.340177298, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.834144773]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135206739s into the future.  Requested time 1702308259.598011732 but the latest data is at time 1702308259.462805033, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308259.957828619]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135007491s into the future.  Requested time 1702308259.733019114 but the latest data is at time 1702308259.598011732, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308260.092480544]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122979055s into the future.  Requested time 1702308259.855998278 but the latest data is at time 1702308259.733019114, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308260.227063145]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134964009s into the future.  Requested time 1702308259.990962267 but the latest data is at time 1702308259.855998278, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308260.350239070]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134976694s into the future.  Requested time 1702308260.125938892 but the latest data is at time 1702308259.990962267, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308260.485290976]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122889363s into the future.  Requested time 1702308260.248828411 but the latest data is at time 1702308260.125938892, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308260.620516947]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135151842s into the future.  Requested time 1702308260.383980274 but the latest data is at time 1702308260.248828411, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308260.742726484]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135202656s into the future.  Requested time 1702308260.519182920 but the latest data is at time 1702308260.383980274, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308260.878783648]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122864308s into the future.  Requested time 1702308260.642047167 but the latest data is at time 1702308260.519182920, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308261.012392633]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135384808s into the future.  Requested time 1702308260.777431965 but the latest data is at time 1702308260.642047167, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308261.135821890]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134626630s into the future.  Requested time 1702308260.912058592 but the latest data is at time 1702308260.777431965, when looking up transform from frame [base_link] to frame [odom]
[ INFO] [1702308261.213889578]: Done Setting Dynamic reconfig parameters.
[ INFO] [1702308261.226382858]: depth stream is enabled - width: 1280, height: 720, fps: 15, Format: Z16
[ INFO] [1702308261.228019366]: color stream is enabled - width: 1280, height: 720, fps: 15, Format: RGB8
[ INFO] [1702308261.232334521]: gyro stream is enabled - fps: 200
[ INFO] [1702308261.232377553]: accel stream is enabled - fps: 63
[ INFO] [1702308261.232410418]: setupPublishers...
[ INFO] [1702308261.236910031]: Expected frequency for depth = 15.00000
[ WARN] [1702308261.271023658]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122841036s into the future.  Requested time 1702308261.034899712 but the latest data is at time 1702308260.912058592, when looking up transform from frame [base_link] to frame [odom]
[ INFO] [1702308261.290861056]: Expected frequency for color = 15.00000
[ INFO] [1702308261.315402121]: Expected frequency for aligned_depth_to_color = 15.00000
[ INFO] [1702308261.342959720]: setupStreams...
[ WARN] [1702308261.405981637]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135246246s into the future.  Requested time 1702308261.170145988 but the latest data is at time 1702308261.034899712, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308261.528931620]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134936255s into the future.  Requested time 1702308261.305082083 but the latest data is at time 1702308261.170145988, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308261.663326956]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122855071s into the future.  Requested time 1702308261.427937269 but the latest data is at time 1702308261.305082083, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308261.696147156]: 
[ WARN] [1702308261.696216862]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
[ WARN] [1702308261.799130194]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135046738s into the future.  Requested time 1702308261.562983990 but the latest data is at time 1702308261.427937269, when looking up transform from frame [base_link] to frame [odom]
[ INFO] [1702308261.910182848]: SELECTED BASE:Depth, 0
[ INFO] [1702308261.920521398]: RealSense Node Is Up!
[ WARN] [1702308261.922407968]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135127132s into the future.  Requested time 1702308261.698111057 but the latest data is at time 1702308261.562983990, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308262.057067592]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122823063s into the future.  Requested time 1702308261.820934057 but the latest data is at time 1702308261.698111057, when looking up transform from frame [base_link] to frame [odom]
[ INFO] [1702308262.074421901]: publishing unordered pointcloud.
[ WARN] [1702308262.179793760]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135089643s into the future.  Requested time 1702308261.956023693 but the latest data is at time 1702308261.820934057, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308262.315198819]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122788037s into the future.  Requested time 1702308262.078811884 but the latest data is at time 1702308261.956023693, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308262.449232100]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135127559s into the future.  Requested time 1702308262.213939428 but the latest data is at time 1702308262.078811884, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308262.573039203]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135071256s into the future.  Requested time 1702308262.349010706 but the latest data is at time 1702308262.213939428, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308262.707214947]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122833976s into the future.  Requested time 1702308262.471844673 but the latest data is at time 1702308262.349010706, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308262.842763120]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135076144s into the future.  Requested time 1702308262.606920719 but the latest data is at time 1702308262.471844673, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308262.965346125]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135201314s into the future.  Requested time 1702308262.742122173 but the latest data is at time 1702308262.606920719, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308263.100386365]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122764558s into the future.  Requested time 1702308262.864886522 but the latest data is at time 1702308262.742122173, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308263.223765915]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135050296s into the future.  Requested time 1702308262.999936819 but the latest data is at time 1702308262.864886522, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308263.358294165]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122850369s into the future.  Requested time 1702308263.122787237 but the latest data is at time 1702308262.999936819, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308263.493263715]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135153248s into the future.  Requested time 1702308263.257940531 but the latest data is at time 1702308263.122787237, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308263.616089164]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.134995185s into the future.  Requested time 1702308263.392935753 but the latest data is at time 1702308263.257940531, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308263.751963230]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122897545s into the future.  Requested time 1702308263.515833378 but the latest data is at time 1702308263.392935753, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308263.886624771]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135014746s into the future.  Requested time 1702308263.650847912 but the latest data is at time 1702308263.515833378, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.010081938]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135137413s into the future.  Requested time 1702308263.785985470 but the latest data is at time 1702308263.650847912, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.144976212]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122930932s into the future.  Requested time 1702308263.908916473 but the latest data is at time 1702308263.785985470, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.267970608]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135055590s into the future.  Requested time 1702308264.043972015 but the latest data is at time 1702308263.908916473, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.403276127]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122880066s into the future.  Requested time 1702308264.166851997 but the latest data is at time 1702308264.043972015, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.537883639]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135160273s into the future.  Requested time 1702308264.302012205 but the latest data is at time 1702308264.166851997, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.661101983]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135072291s into the future.  Requested time 1702308264.437084675 but the latest data is at time 1702308264.302012205, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.796169042]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122810513s into the future.  Requested time 1702308264.559895039 but the latest data is at time 1702308264.437084675, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308264.930637675]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135166244s into the future.  Requested time 1702308264.695061445 but the latest data is at time 1702308264.559895039, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.053212335]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135083433s into the future.  Requested time 1702308264.830144882 but the latest data is at time 1702308264.695061445, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.189354671]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122734895s into the future.  Requested time 1702308264.952879667 but the latest data is at time 1702308264.830144882, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.323534361]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135013101s into the future.  Requested time 1702308265.087892771 but the latest data is at time 1702308264.952879667, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.446987292]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135191886s into the future.  Requested time 1702308265.223084688 but the latest data is at time 1702308265.087892771, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.581211190]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122821031s into the future.  Requested time 1702308265.345905781 but the latest data is at time 1702308265.223084688, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.704981171]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135075474s into the future.  Requested time 1702308265.480981112 but the latest data is at time 1702308265.345905781, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.839920462]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122845867s into the future.  Requested time 1702308265.603827000 but the latest data is at time 1702308265.480981112, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308265.974227419]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135138493s into the future.  Requested time 1702308265.738965511 but the latest data is at time 1702308265.603827000, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308266.097054429]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135017330s into the future.  Requested time 1702308265.873982906 but the latest data is at time 1702308265.738965511, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308266.232059307]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122754332s into the future.  Requested time 1702308265.996737242 but the latest data is at time 1702308265.873982906, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308266.367456516]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135101910s into the future.  Requested time 1702308266.131839037 but the latest data is at time 1702308265.996737242, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308266.490312618]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135198898s into the future.  Requested time 1702308266.267037868 but the latest data is at time 1702308266.131839037, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308266.625717179]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122888791s into the future.  Requested time 1702308266.389926672 but the latest data is at time 1702308266.267037868, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308266.760511933]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135043932s into the future.  Requested time 1702308266.524970770 but the latest data is at time 1702308266.389926672, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308266.883297267]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135107093s into the future.  Requested time 1702308266.660077810 but the latest data is at time 1702308266.524970770, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.018378849]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122892852s into the future.  Requested time 1702308266.782970667 but the latest data is at time 1702308266.660077810, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.153829584]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135039368s into the future.  Requested time 1702308266.918009996 but the latest data is at time 1702308266.782970667, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.277125126]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135187078s into the future.  Requested time 1702308267.053197145 but the latest data is at time 1702308266.918009996, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.411345673]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122793997s into the future.  Requested time 1702308267.175991058 but the latest data is at time 1702308267.053197145, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.547408263]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135038500s into the future.  Requested time 1702308267.311029673 but the latest data is at time 1702308267.175991058, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.670069796]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135196757s into the future.  Requested time 1702308267.446226358 but the latest data is at time 1702308267.311029673, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.804869730]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122690693s into the future.  Requested time 1702308267.568917036 but the latest data is at time 1702308267.446226358, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308267.927842954]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135201397s into the future.  Requested time 1702308267.704118490 but the latest data is at time 1702308267.568917036, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.062363289]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122788560s into the future.  Requested time 1702308267.826906919 but the latest data is at time 1702308267.704118490, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.198100649]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135137875s into the future.  Requested time 1702308267.962044954 but the latest data is at time 1702308267.826906919, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.320425641]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135154555s into the future.  Requested time 1702308268.097199440 but the latest data is at time 1702308267.962044954, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.456246025]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122823557s into the future.  Requested time 1702308268.220022917 but the latest data is at time 1702308268.097199440, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.590570763]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135051250s into the future.  Requested time 1702308268.355074167 but the latest data is at time 1702308268.220022917, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.714141522]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135143573s into the future.  Requested time 1702308268.490217924 but the latest data is at time 1702308268.355074167, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.849254927]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122723955s into the future.  Requested time 1702308268.612941742 but the latest data is at time 1702308268.490217924, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308268.983411769]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135099311s into the future.  Requested time 1702308268.748041153 but the latest data is at time 1702308268.612941742, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308269.106880983]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135123016s into the future.  Requested time 1702308268.883164167 but the latest data is at time 1702308268.748041153, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308269.242258025]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122816858s into the future.  Requested time 1702308269.005980968 but the latest data is at time 1702308268.883164167, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308269.364952296]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135089529s into the future.  Requested time 1702308269.141070366 but the latest data is at time 1702308269.005980968, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308269.499146482]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122863042s into the future.  Requested time 1702308269.263933420 but the latest data is at time 1702308269.141070366, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308269.635234845]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135014806s into the future.  Requested time 1702308269.398948431 but the latest data is at time 1702308269.263933420, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308269.758284505]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135172505s into the future.  Requested time 1702308269.534120798 but the latest data is at time 1702308269.398948431, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308269.892334593]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122836305s into the future.  Requested time 1702308269.656957150 but the latest data is at time 1702308269.534120798, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308270.028306235]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135104482s into the future.  Requested time 1702308269.792061567 but the latest data is at time 1702308269.656957150, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308270.151061533]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135104311s into the future.  Requested time 1702308269.927165985 but the latest data is at time 1702308269.792061567, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308270.285722970]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.122858111s into the future.  Requested time 1702308270.050024033 but the latest data is at time 1702308269.927165985, when looking up transform from frame [base_link] to frame [odom]
[ WARN] [1702308270.421153526]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.135116903s into the future.  Requested time 1702308270.185140848 but the latest data is at time 1702308270.050024033, when looking up transform from frame [base_link] to frame [odom]

bshah · December 11, 2023, 4:17pm

Your logs reveal a issue:

Traceback (most recent call last):
  File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/nodes/funmap", line 37, in <module>
    import stretch_funmap.merge_maps as mm
  File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/src/stretch_funmap/merge_maps.py", line 10, in <module>
    import stretch_funmap.navigation_planning as na
  File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/src/stretch_funmap/navigation_planning.py", line 5, in <module>
    import stretch_funmap.cython_min_cost_path as cm
ModuleNotFoundError: No module named 'stretch_funmap.cython_min_cost_path'

The missing module is likely due to your ROS workspace being setup incorrectly. Go ahead and save any work in your workspace, then follow the Creating a New ROS Workspace tutorial.

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Problem with FUNMAP

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