Problems on integration of localization to ros navigation stack (move-base)

[jojo89776]

First of all, I really appreciate the release of this wonderful mapping and localization package.
Currently, I'm working on an exchange amcl-based localization tool with this iris-lama-ros package.
However, when I was using this package with move base (ros navigation stack), I got the error message "Extrapolation Error: Lookup would require extrapolation into the future". (When using amcl-based localization, there was no error).
Do you have any idea to solve, or did you have any experience with such problems?
(I tried comment tf-broadcaster on localization node, but nothing changed).
It will be greatly helpful if you (or someone) can give any comments!

[eupedrosa]

Hi @jojo89776, thanks for you kind words about LaMa.

I usually do not have an "Extrapolation Error" when using the localization node. Commenting the tf-broadcaster will not solve the problem, in fact, it makes it worse. Are you using melodic or noetic?

There is a parameter called ~transform_tolerance, try increase it to a higher value than 0.1 (eg 0.2 or 0.3).

[jojo89776]

Thank you for the comment.
Actually, when I used localization only, there was no error and the algorithm worked perfectly.
This error occurs when I was using the lama-ros localization with move-base (Extrapolation error on local planner).
I will change transform tolerance and figure out the problems.