Pre-generating Open-set Semantics for a Scene and tf_lookup Error in Clio

[B14ckFox]

Encountered two issues while working with Clio and the semantic_inference package:

• Missing setup instructions for the semantic_inference_ros environment.
• A tf_lookup error when running Clio, leading to dropped camera features.

1. Pre-generating Open-set Semantics
   It's useful to pre-generate the open-set segmentation and CLIP embeddings before running Clio. For example:

`source ~/environments/semantic_inference_ros/bin/activate
cd /path/to/clio/datasets

rosrun semantic_inference_ros make_rosbag --clip-vec --copy
apartment/apartment.bag -o apartment/apartment_with_semantics.bag
/dominic/forward/color/image_raw:/dominic/forward/semantic/image_raw`

--> Error:
[rospack] Error: package semantic_inference_ros not found

However, there are no instructions on how to set up the semantic_inference_ros environment. Can you provide steps or update the documentation?

2. tf_lookup Error
   While running Clio, I get the following error:

[ INFO] [1728853555.973927788]: Running... E1013 23:30:40.994900 6329 tf_lookup.cpp:99] Failed to find: world_T_dominic/forward_link @ 1709900199573517799 [ns]: Lookup would require extrapolation 0.133360148s into the past. Requested time 1709900199.573517799 but the earliest data is at time 1709900199.706877947, when looking up transform from frame [dominic/forward_link] to frame [world]. canTransform returned after 0 timeout was 0. W1013 23:30:40.994946 6329 feature_receiver.cpp:97] Dropping feature @ 1709900199573517799[ns] for sensor camera E1013 23:30:58.975128 6329 tf_lookup.cpp:99] Failed to find: world_T_dominic/forward_link @ 1709900199706877947 [ns]: Lookup would require extrapolation 5.207084656s into the past. Requested time 1709900199.706877947 but the earliest data is at time 1709900204.913962603, when looking up transform from frame [dominic/forward_link] to frame [world]. canTransform returned after 0 timeout was 0. W1013 23:30:58.975195 6329 feature_receiver.cpp:97] Dropping feature @ 1709900199706877947[ns] for sensor camera

Any help would be appreciated!