message filter dropping: frame "base_link" at time xx for reason 'unkonwn'

[Un1Lee]

hello, thank your work so much. I run fast_lio2 for mapping, and change it to your mapping format.
then I run fastlio2 for odom, for example, it will publish tf: odom->base_link.
then I run your code, for global_frame_id :map, base_frame_id: odom, odom_frame_id:odom.

It seems that rviz show maybe ok? but the terminal always report:
message filter dropping: frame "base_link" at time xx for reason 'unkonwn'.

if I change the fixed frame from map to base_link, it won't report, but I think the fixed should be map?
can you give me some help? Thank you! I don't know it is good to report such message filter .

[fercabe]

Hi!

I do not know if this is the error, but base_frame_id must be set to the robot base frame. In your setup, it seems to be base_link. Fastlio2 is generates the tf odom->base_link, and DLL will generate the tf map->odom.

Try to set base_frame_id: base_link and check .

Fernando

[Un1Lee]

Hi， I am sorry， base_frame_id is base_link. When I run rqt_tf_tree, I can see map->odom->base_link (ICP method)。 I think maybe the warning means nothing? What more, it will first report ERROR: "odom" passed to lookuptransform argument target_frame dose not exits. But if when dll method, the node will die; when ICP method, the node is good, and I can use initial pose in rivz, then it can run for some time, but the cloud will get higher and higher, then total wrong.

[fercabe]

Could you share with me the launch file you are using? Actually, if you pass me the rosbag and the launch file, I can try to reproduce the error.

[Un1Lee]

Thank you. I don't solve this problem, I run ndt_omp for myself. Thank your help these days.