ECWM component inside a simulation environment has an unmarked dependency with Manipulation group
When using the ecwm compomnent inside a simulated environment, the wrong time is being used as a reference.
This causes recognition to fail with a similar error like Lookup would require extrapolation 1702304028.0s into the past. Requested time 128.8 but the earliest data is at the time 1702304157.3, when looking up transform from frame [xtion_rgb_optical_frame] to frame [ikea_table/on_top]
This can be fixed by including the manipulation group.
The clean way of fixing this is to set the parameter server variable /use_sim_time
to true
. This should at best be taken care of the bringup_tiago
component, which currently also provides the tags for the physical components.