ROS2 OmniGraph | Can't visualize lidar when there is a rotation rate


We have a ROS2 Publish Laser Scan node. We found that in case we set the Rotation Rate, when trying to visualize it in rviz2 we get the following error (repeated endless times):

[bash-21] 1666626946.927442130 [rviz2] [ERROR] Lookup would require extrapolation into the future.  Requested time 6.274777 but the latest data is at time 6.266667, when looking up transform from frame [base_lidar_link] to frame [map]

We have made sure that use_sim_time = true, and that the clock is published. After hours of trying to fix it, we found this post: LaserScan not visualized in rviz - #4 by hoanggiang, and removing rotation rate fixed the issue for us.

The problem is that this doesn’t simulate our real lidar, which doesn’t publish full scans each time.

After looking a little into OgnROS2PublishLaserScan.cpp, it seems like this can be caused due to time_increment been set when rotation rate exists (it is always set, it will just be 0 if there is no rotation rate). Now since the stamp property on the LaserScan message is set to now, if you set time_increment on the LaserScan, it causes the ranges to be in a future time. As it takes time_increment * range_index + stamp.

Hi - Sorry for the delay in the response. Let us know if you still having this issue with the latest Isaac Sim 2022.2.1 release.

Still this issue is not resolved with the Isaac Sim 2022.2.1