fetch_plug_sm transform error (ros ticket #4238)

[ahendrix]

Got this error while trying to plug in:

{{{
Node: /fetch_plug_sm
Time: 1271980068.732223033
Severity: Error
Published Topics: /fetch_plug_sm/status, /r_gripper_controller/gripper_action/feedback, /r_gripper_controller/gripper_action/status, /detect_plug_on_base/goal, /detect_plug_on_base/status, /r_gripper_controller/gripper_action/goal, /r_arm_ik/status, /r_arm_plugs_controller/joint_trajectory_generator/goal, /detect_plug_on_base/cancel, /torso_controller/position_joint_action/status, /torso_controller/position_joint_action/goal, /r_arm_ik/cancel, /fetch_plug_sm/result, /torso_controller/position_joint_action/feedback, /r_arm_ik/feedback, /r_arm_plugs_controller/joint_trajectory_generator/status, /r_gripper_controller/gripper_action/cancel, /fetch_plug_sm/cancel, /rosout, /r_arm_ik/goal, /fetch_plug_sm/feedback, /tf, /detect_plug_on_base/result, /torso_controller/position_joint_action/cancel, /detect_plug_on_base/feedback, /time, /torso_controller/position_joint_action/result, /r_arm_plugs_controller/joint_trajectory_generator/result, /clock, /r_arm_plugs_controller/joint_trajectory_generator/cancel, /fetch_plug_sm/goal, /r_gripper_controller/gripper_action/result, /r_arm_plugs_controller/joint_trajectory_generator/feedback, /r_arm_ik/result

bad callback: <bound method ActionClient._result_cb of <actionlib.action_client.ActionClient instance at 0x1682d40>>
Traceback (most recent call last):
File "/u/sglaser/ros/ros/core/rospy/src/rospy/topics.py", line 551, in _invoke_callback
cb(msg)
File "/u/sglaser/ros/pkgs/common/actionlib/src/actionlib/action_client.py", line 588, in _result_cb
self.manager.update_results(msg)
File "/u/sglaser/ros/pkgs/common/actionlib/src/actionlib/action_client.py", line 486, in update_results
status.update_result(action_result)
File "/u/sglaser/ros/pkgs/common/actionlib/src/actionlib/action_client.py", line 395, in update_result
self.transition_to(CommState.DONE)
File "/u/sglaser/ros/pkgs/common/actionlib/src/actionlib/action_client.py", line 368, in transition_to
self.transition_cb(ClientGoalHandle(self))
File "/u/sglaser/ros/pkgs/common/actionlib/src/actionlib/simple_action_client.py", line 297, in _handle_transition
self.done_cb(gh.get_goal_status(), gh.get_result())
File "/u/sglaser/ros/pkgs/executive_python/smach/src/smach/simple_action_state.py", line 200, in goal_done_cb
self.result_cb(self, result_state, result)
File "/u/sglaser/ros/pkgs/pr2_plugs/pr2_plugs_actions/scripts/fetch_plug_sm.py", line 95, in store_detect_plug_result
state.sm_userdata.sm_result.plug_on_base_pose = TFUtil.wait_and_transform('base_link',result.plug_pose)
File "/u/sglaser/ros/pkgs/pr2_plugs/pr2_plugs_actions/scripts/fetch_plug_sm.py", line 44, in wait_and_transform
TFUtil.transformer.waitForTransform(frame_id, pose.header.frame_id, pose.header.stamp, rospy.Duration(2.0))
Exception: You requested a transform that is 34.463 seconds in the past,
but the tf buffer only has a history of 10.042 seconds.
}}}

The node shouldn't be throwing an exception.

trac data:

• Owner: jbohren
• Reporter: sglaser
• Reported at: Thu Apr 22 16:49:44 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4238