ros2 runtime_error ai_generated partial

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。

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.

ID: ros2/tf2-buffer-size-exceeded

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80%修复率
89%置信度
1证据数
2023-07-05首次发现

版本兼容性

版本状态引入弃用备注
ROS2 Foxy active — — —
ROS2 Galactic active — — —
ROS2 Humble active — — —
tf2 2.5.x active — — —

根因分析

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。

English

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.

generic

官方文档

https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Tf2-Main.html

解决方案

  1. 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))'
  2. 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'

无效尝试

常见但无效的做法:

  1. 60% 失败

    This may cause memory issues and does not address the root cause of missing transforms; it only delays the problem.

  2. 90% 失败

    The transform may never become available if the publisher has stopped or the frame is no longer being broadcast.

  3. 85% 失败

    If sim_time is enabled but no /clock is published, timestamps may be zero, causing all lookups to fail.