Use time from msg to support replaying bag#144
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It will fail to retrieve the transformation for the sensor frame if we are replaying bag file, as described in nobleo#143 This is caused by the time used to look up sensor frame, which is retrieved via frame_manager->getTime(), i.e., the current ros::time. However, if we are replaying a bag file, only transforms in the past are provided, causing an "extrapolation in the future" error.
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Run rviz with That should solve things. |
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It will fail to retrieve the transformation for the sensor frame if we are replaying bag file, as described in
#143 This is caused by the time used to look up sensor frame, which is retrieved via frame_manager->getTime(), i.e., the current ros::time. However, if we are replaying a bag file, only transforms in the past are provided, causing an "extrapolation in the future" error.