I am receiving this error while executing my python code. I am using moveit interface and transforming a fixed pose value from PR2's head_plate_frame to base_frame. Here is my code:
#!/usr/bin/env python
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
from geometry_msgs.msg import PoseStamped
import tf
import roslib
import traceback
from std_msgs.msg import String
def move_group_python_interface_tutorial():
## Initialize moveit commander
print "============ Starting setup"
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('move_group_python_interface_tutorial',
anonymous=True)
robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()
group = moveit_commander.MoveGroupCommander("left_arm")
display_trajectory_publisher = rospy.Publisher(
'/move_group/display_planned_path',
moveit_msgs.msg.DisplayTrajectory)
print "============ Waiting for RVIZ..."
rospy.sleep(10)
print "============ Generating plan 1"
br = tf.TransformBroadcaster()
R = rospy.Rate(150)
while not rospy.is_shutdown():
br.sendTransform((0.7, -0.05, 1.1), (-0.0260971551735, 0.966530312455, 0.030156799172, 0.253433740969), rospy.Time(), 'head_plate_frame','base_link')
R.sleep()
listener = tf.TransformListener()
while not rospy.is_shutdown():
try:
now = rospy.Time.now()
listener.waitForTransform('/base_link','/head_plate_frame',now, rospy.Duration(10.0))
(position, quaternion) = listener.lookupTransform('/base_link', '/head_plate_frame', now)
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
traceback.print_exc()
pose_source = geometry_msgs.msg.Pose()
pose_source.orientation.x = quaternion[0]
pose_source.orientation.y = quaternion[1]
pose_source.orientation.z = quaternion[2]
pose_source.orientation.w = quaternion[3]
pose_source.position.x = position[0]
pose_source.position.y = position[1]
pose_source.position.z = position[2]
group.set_pose_target(pose_source)
plan1 = group.plan()
print "============ Waiting while RVIZ displays plan1..."
rospy.sleep(5)
group.clear_pose_targets()
moveit_commander.roscpp_shutdown()
print "============ STOPPING"
if __name__=='__main__':
try:
move_group_python_interface_tutorial()
except rospy.ROSInterruptException:
pass
However, I am getting the following error message:
TF_OLD_DATA ignoring data from the past for frame head_plate_frame at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
Then I found [this](https://answers.ros.org/question/201948/tf_old_data-ignoring-data-from-the-past-for-frame-odom/) and I put the following line in my launch file
After that, the rviz did not launch and I got the following error;
Reason given for shutdown: [new node registered with same name]
Here is my launch file:
[/move_group/fake_controller_joint_states]
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