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tf frames in different time epoch from ros time?

asked 2013-05-08 20:38:54 -0600

Ernest
341 ●13 ●20 ●28 http://oppetit.me/

updated 2014-01-28 17:16:28 -0600

ngrennan
1 ●1 ●1

I am trying to tackle the following warning when running Navigation:

[ WARN] [1368081077.201722266]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1368081077.401579990]: Costmap2DROS transform timeout. Current time: 1368081077.4015, global_pose stamp: 136.4000, tolerance: 0.3000

The transform timed out because the time & the pose stamp are extremely different. Are they in different time epochs? If so, how can that be solved?

Thanks,

Ernest

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answered 2013-05-09 01:31:12 -0600

Martin Günther

11816 ●82 ●159 ●198 https://www.dfki.de/en...

You're probably running Gazebo and missing the use_sim_time parameter. Try the following:

roscore
rosparam set use_sim_time true
Now start launching the rest of your system.

The explanation is that the navigation stack was probably launched before the use_sim_time parameter was set (so it uses wall time: 1368081077.4015), and the thing publishing the TF transforms was launched afterwards (so it uses sim time: 136.4000).

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spot on! that solved the problem. Thank you very much.

Ernest ( 2013-05-09 08:34:03 -0600 )edit

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Asked: 2013-05-08 20:38:54 -0600

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tf frames in different time epoch from ros time?