{
  "id": "ros2/tf2-buffer-size-exceeded",
  "signature": "tf2.BufferCore::lookupTransform: Can't find transform from frame_a to frame_b, error: 'frame_b' passed to lookupTransform argument target_frame does not exist. Buffer size exceeded.",
  "signature_zh": "tf2.BufferCore::lookupTransform: 找不到从 frame_a 到 frame_b 的变换，错误：传递给 lookupTransform 参数 target_frame 的 'frame_b' 不存在。缓冲区大小已超出。",
  "regex": "tf2\\.BufferCore::lookupTransform: Can't find transform from .+ to .+, error: '.+' passed to lookupTransform argument target_frame does not exist\\. Buffer size exceeded\\.",
  "domain": "ros2",
  "category": "runtime_error",
  "subcategory": null,
  "root_cause": "The tf2 buffer has a limited size (default 10 seconds) and older transforms are removed; if a transform lookup requires data older than the buffer window, it fails.",
  "root_cause_type": "generic",
  "root_cause_zh": "tf2 缓冲区大小有限（默认 10 秒），较旧的变换会被移除；如果变换查找需要早于缓冲区窗口的数据，则会失败。",
  "versions": [
    {
      "version": "ROS2 Foxy",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "ROS2 Galactic",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "ROS2 Humble",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "tf2 2.5.x",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "",
      "why_fails": "This may cause memory issues and does not address the root cause of missing transforms; it only delays the problem.",
      "fail_rate": 0.6,
      "condition": "",
      "sources": []
    },
    {
      "action": "",
      "why_fails": "The transform may never become available if the publisher has stopped or the frame is no longer being broadcast.",
      "fail_rate": 0.9,
      "condition": "",
      "sources": []
    },
    {
      "action": "",
      "why_fails": "If sim_time is enabled but no /clock is published, timestamps may be zero, causing all lookups to fail.",
      "fail_rate": 0.85,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "Increase the tf2 buffer size in the node: 'tf_buffer = tf2_ros.Buffer(cache_time=rclpy.duration.Duration(seconds=30.0))'",
      "success_rate": 0.8,
      "how": "Increase the tf2 buffer size in the node: 'tf_buffer = tf2_ros.Buffer(cache_time=rclpy.duration.Duration(seconds=30.0))'",
      "condition": "",
      "sources": []
    },
    {
      "action": "Ensure the transform publisher is running continuously with a high enough rate (e.g., 50 Hz) and check for dropped messages: 'ros2 topic hz /tf'",
      "success_rate": 0.9,
      "how": "Ensure the transform publisher is running continuously with a high enough rate (e.g., 50 Hz) and check for dropped messages: 'ros2 topic hz /tf'",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "在节点中增加 tf2 缓冲区大小：'tf_buffer = tf2_ros.Buffer(cache_time=rclpy.duration.Duration(seconds=30.0))'",
    "确保变换发布者以足够高的速率（例如 50 Hz）连续运行，并检查是否有丢弃的消息：'ros2 topic hz /tf'"
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Tf2-Main.html",
  "official_doc_section": null,
  "error_code": null,
  "verification_tier": "ai_generated",
  "confidence": 0.89,
  "fix_success_rate": 0.8,
  "resolvable": "partial",
  "first_seen": "2023-07-05",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}