{"action":"created","issue":{"url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/253","labels_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/253/labels{/name}","comments_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/253/comments","events_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/253/events","html_url":"https://github.com/cra-ros-pkg/robot_localization/issues/253","id":130638101,"number":253,"title":"Warning about transformation","user":{"login":"akifh","id":1104239,"avatar_url":"https://avatars.githubusercontent.com/u/1104239?v=3","gravatar_id":"","url":"https://api.github.com/users/akifh","html_url":"https://github.com/akifh","followers_url":"https://api.github.com/users/akifh/followers","following_url":"https://api.github.com/users/akifh/following{/other_user}","gists_url":"https://api.github.com/users/akifh/gists{/gist_id}","starred_url":"https://api.github.com/users/akifh/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/akifh/subscriptions","organizations_url":"https://api.github.com/users/akifh/orgs","repos_url":"https://api.github.com/users/akifh/repos","events_url":"https://api.github.com/users/akifh/events{/privacy}","received_events_url":"https://api.github.com/users/akifh/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-02-02T10:19:30Z","updated_at":"2016-02-02T13:43:43Z","closed_at":null,"body":"Hi all. I'm running ekf_localization with odom and imu. In console it outputs a warning on transformation about once every 1-2 secs;\r\n\r\n```\r\nNode: /ekf_localization\r\nTime: 12:14:21.414057836 (2016-02-02)\r\nSeverity: Warn\r\nPublished Topics: /diagnostics, /odometry/filtered, /rosout, /tf\r\n\r\nWARNING: failed to transform from base_imu_link->base_footprint for imu0 message received at 1454408061.356009006. No transform exists from source to target frame.\r\n\r\n\r\nLocation:\r\n/tmp/buildd/ros-indigo-robot-localization-2.2.1-0trusty-20151111-0737/src/ros_filter.cpp:RosFilter<T>::transformPoseFailureCallback:1547\r\n```\r\nI have checked the tf tree. It seems OK.\r\n![frames](https://cloud.githubusercontent.com/assets/1104239/12746314/bb5e8086-c9a6-11e5-9033-42af51ddf82a.png)\r\n\r\nConfig for robot_localization is as this;\r\n```\r\nekf_localization:\r\n  frequency: 50\r\n  odom0: /mobile_base_controller/odom\r\n  odom0_config: [false, false, false,\r\n                 false, false, false,\r\n                 true, true, false,\r\n                 false, false, false,\r\n                 false, false, false]\r\n  odom0_differential: false\r\n\r\n  imu0: /imu/data_raw\r\n  imu0_config: [false, false, false,\r\n                false, false, true,\r\n                false, false, false,\r\n                false, false, true,\r\n                false, false, false]\r\n\r\n  imu0_differential: false\r\n  odom_frame: odom\r\n  base_link_frame: base_footprint\r\n  world_frame: odom\r\n  two_d_mode: true\r\n```\r\nSample IMU msg:\r\n\r\n```\r\nheader: \r\n  seq: 54660\r\n  stamp: \r\n    secs: 1454408422\r\n    nsecs: 461543083\r\n  frame_id: base_imu_link\r\norientation: \r\n  x: 0.0646457688177\r\n  y: -0.00454207126069\r\n  z: -0.207613044731\r\n  w: 0.976062046091\r\norientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]\r\nangular_velocity: \r\n  x: 0.0\r\n  y: 0.12\r\n  z: 0.0\r\nangular_velocity_covariance: [0.02, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.02]\r\nlinear_acceleration: \r\n  x: -0.133683359375\r\n  y: 1.04993148437\r\n  z: 8.21060976562\r\nlinear_acceleration_covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]\r\n```\r\n\r\n\r\nIs this something related with TF frequencies? Should I decrease freq of ekf_localization? I could not figure it out. @ayrton04"},"comment":{"url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/comments/178578805","html_url":"https://github.com/cra-ros-pkg/robot_localization/issues/253#issuecomment-178578805","issue_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/253","id":178578805,"user":{"login":"ayrton04","id":5042191,"avatar_url":"https://avatars.githubusercontent.com/u/5042191?v=3","gravatar_id":"","url":"https://api.github.com/users/ayrton04","html_url":"https://github.com/ayrton04","followers_url":"https://api.github.com/users/ayrton04/followers","following_url":"https://api.github.com/users/ayrton04/following{/other_user}","gists_url":"https://api.github.com/users/ayrton04/gists{/gist_id}","starred_url":"https://api.github.com/users/ayrton04/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ayrton04/subscriptions","organizations_url":"https://api.github.com/users/ayrton04/orgs","repos_url":"https://api.github.com/users/ayrton04/repos","events_url":"https://api.github.com/users/ayrton04/events{/privacy}","received_events_url":"https://api.github.com/users/ayrton04/received_events","type":"User","site_admin":false},"created_at":"2016-02-02T13:43:43Z","updated_at":"2016-02-02T13:43:43Z","body":"Are you running everything on the same machine? Try setting `use_tf_static` to true for `robot_state_publisher`."}}