{
  "id": "ros2/tf2-buffer-core-lookup-transform-time-travel",
  "signature": "tf2.BufferCore::lookupTransform: Lookup would require extrapolation into the future",
  "signature_zh": "tf2.BufferCore::lookupTransform：查找需要外推到未来",
  "regex": "Lookup would require extrapolation into the future",
  "domain": "ros2",
  "category": "runtime_error",
  "subcategory": null,
  "root_cause": "The requested transform time is later than the latest available frame timestamp, often due to clock skew, sim_time misconfiguration, or publishing delay.",
  "root_cause_type": "generic",
  "root_cause_zh": "请求的变换时间晚于最新可用帧的时间戳，通常由时钟偏差、sim_time配置错误或发布延迟导致。",
  "versions": [
    {
      "version": "Humble",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Iron",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Jazzy",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Rolling",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "Increasing the transform timeout in lookupTransform() call",
      "why_fails": "Timeout increase doesn't fix clock misalignment; the transform still doesn't exist at the requested time.",
      "fail_rate": 0.6,
      "condition": "",
      "sources": []
    },
    {
      "action": "Manually setting ROS time using /clock publisher to wall clock",
      "why_fails": "If use_sim_time is true, wall clock updates are ignored; the buffer only uses simulated time.",
      "fail_rate": 0.7,
      "condition": "",
      "sources": []
    },
    {
      "action": "Restarting all nodes",
      "why_fails": "Transient clock skew or missing data persists if the root cause (e.g., late publisher) isn't addressed.",
      "fail_rate": 0.5,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "Set use_sim_time=True on all nodes and ensure /clock is published correctly. Run 'ros2 bag play --clock' to simulate time.",
      "success_rate": 0.85,
      "how": "Set use_sim_time=True on all nodes and ensure /clock is published correctly. Run 'ros2 bag play --clock' to simulate time.",
      "condition": "",
      "sources": []
    },
    {
      "action": "Use tf2_ros::Buffer::canTransform() with a timeout before lookupTransform to wait for data.",
      "success_rate": 0.75,
      "how": "Use tf2_ros::Buffer::canTransform() with a timeout before lookupTransform to wait for data.",
      "condition": "",
      "sources": []
    },
    {
      "action": "Check and synchronize system clocks across machines using NTP or chrony.",
      "success_rate": 0.7,
      "how": "Check and synchronize system clocks across machines using NTP or chrony.",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "Set use_sim_time=True on all nodes and ensure /clock is published correctly. Run 'ros2 bag play --clock' to simulate time.",
    "Use tf2_ros::Buffer::canTransform() with a timeout before lookupTransform to wait for data.",
    "Check and synchronize system clocks across machines using NTP or chrony."
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://docs.ros.org/en/rolling/Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.html",
  "official_doc_section": null,
  "error_code": null,
  "verification_tier": "ai_generated",
  "confidence": 0.85,
  "fix_success_rate": 0.8,
  "resolvable": "true",
  "first_seen": "2023-05-01",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}