{"action":"opened","issue":{"url":"https://api.github.com/repos/ros-planning/navigation2/issues/386","repository_url":"https://api.github.com/repos/ros-planning/navigation2","labels_url":"https://api.github.com/repos/ros-planning/navigation2/issues/386/labels{/name}","comments_url":"https://api.github.com/repos/ros-planning/navigation2/issues/386/comments","events_url":"https://api.github.com/repos/ros-planning/navigation2/issues/386/events","html_url":"https://github.com/ros-planning/navigation2/issues/386","id":385524519,"node_id":"MDU6SXNzdWUzODU1MjQ1MTk=","number":386,"title":"Re-enable message filters in the obstacle layer","user":{"login":"crdelsey","id":39749483,"node_id":"MDQ6VXNlcjM5NzQ5NDgz","avatar_url":"https://avatars1.githubusercontent.com/u/39749483?v=4","gravatar_id":"","url":"https://api.github.com/users/crdelsey","html_url":"https://github.com/crdelsey","followers_url":"https://api.github.com/users/crdelsey/followers","following_url":"https://api.github.com/users/crdelsey/following{/other_user}","gists_url":"https://api.github.com/users/crdelsey/gists{/gist_id}","starred_url":"https://api.github.com/users/crdelsey/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/crdelsey/subscriptions","organizations_url":"https://api.github.com/users/crdelsey/orgs","repos_url":"https://api.github.com/users/crdelsey/repos","events_url":"https://api.github.com/users/crdelsey/events{/privacy}","received_events_url":"https://api.github.com/users/crdelsey/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-11-29T01:10:44Z","updated_at":"2018-11-29T01:10:44Z","closed_at":null,"author_association":"COLLABORATOR","body":"<!--\r\nFor general questions, please ask on ROS answers: https://answers.ros.org, make sure to include at least the `ros2` tag and the rosdistro version you are running, e.g. `ardent`.\r\nFor general design discussions, please post on discourse: https://discourse.ros.org/c/ng-ros\r\nNot sure if this is the right repository? Open an issue on https://github.com/ros-planning/navigation2\r\nFor Bug report or feature requests, please fill out the relevant category below\r\n-->\r\n\r\n## Bug report\r\n\r\n**Required Info:**\r\n\r\n- Operating System:\r\n  -Ubuntu 18.04\r\n- Installation type:\r\n  - source\r\n- Version or commit hash:\r\n  - Latest as of Nov 28, 2018\r\n\r\n\r\n#### Steps to reproduce issue\r\nRun stack and configure the obstacle layer in local costmap. Here's an example parameter yaml file for that.\r\n\r\n```yaml\r\nlocal_costmap:\r\n  ros__parameters:\r\n    always_send_full_costmap: True\r\n    observation_sources: scan\r\n    scan:\r\n      topic: scan\r\n```\r\n\r\n#### Expected behavior\r\n\r\n#### Actual behavior\r\nError messages of the form:\r\n\r\n```\r\n[ERROR] [nav2_costmap_2d]: TF Exception that should never happen for sensor frame: , cloud frame: base_scan, Lookup would require extrapolation into the future.  Requested time 15401.50800 but the latest data is at time 15401.50000, when looking up transform from frame [base_scan] to frame [map]\r\n```\r\n\r\n"}}
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