Issue with RViz2 Extrapolation when Visualizing 2D Lidar in Isaac ROS Examples

Omniverse Isaac Sim
1

Hello,

I am experiencing an issue with RViz2 while using the Isaac ROS examples in the ROS sample scene. Specifically, I enabled downstream execution and render product (RP) creation to visualize the 2D lidar data. However, I encountered the following error message in RViz2:

[ERROR] [1722250350.987567830] [rviz2]: Lookup would require extrapolation into the future.  Requested time 448.199992 but the latest data is at time 448.100023, when looking up transform from frame [front_2d_lidar] to frame [base_link]

The lidar topic appears to be slightly ahead of the available transform data, causing RViz2 to attempt to extrapolate into the future.

Here are the specific steps I followed:

  1. Loaded the Isaac ROS examples sample scene.
  2. Enabled downstream execution and RP creation to visualize the 2D lidar data.
  3. Attempted to visualize the front_2d_lidar topic in RViz2.

Could you please help me to understand this issue ?