Transformer::setExtrapolationLimit is deprecated and does not do anything

[ruffsl]

Looks like as of Inigo, the setExtrapolationLimit is now deprecated. Also seem like its not really recommended: http://answers.ros.org/question/32727/tflistenersetextrapolationlimit-does-this-really-allow-forward-extrapolation/

[soulslicer]

I have no way of going around this. I have two sensors publishing their tf at different times and there doesnt seem to be a way to disable extrapolation or set limits

[ruffsl]

Hmm. Pinging tf master @tfoote , any suggestions? Here is the line in question: https://github.com/iralabdisco/ira_laser_tools/blob/d430b64d5012e7d75ad48ad3b9609975d5cffe97/src/laserscan_multi_merger.cpp#L140

[tfoote]

Why does extrapolation help coordinate sensors at two times? You should wait until you have valid transforms for the data before using them whether or not you have one source or multiple sources. A MessageFilter or filters will likely do what you need. You can use it programmatically to coordinate data from multiple sources internally instead of relying on just the incoming topics. (Set the topic to an unused topic and use the add method manuall.)

[romainreignier]

Because of that issue, the package cannot work on Kinetic, right? I did not managed to make it merge 2 laser scans.

[tfoote]

You should update the code to wait for both transforms to be available before processing instead of just one.

[differkhun]

Hello?I wanna merge four scan topics from one lidar(ibeo),but I still have the problem:

Transformer::setExtrapolationLimit is deprecated and does not do anything

Any solutions there ? Thanks for your reply~~

[EchChou]

I have the same problem. Someone can help please. Thank you.

[pietrocolombo]

which branch do you use? use the kinetic branch