Hi!

When I try to use frame_locked = True in my marker, I am getting the following error:

terminate called after throwing an instance of 'std::runtime_error'
  what():  can't compare times with different time sources

In my application there is only one node and timestamp is obtained with node.get_clock().now(). I found out that this error does not happen if I disable visualization of the marker in question in RViz. Any idea on how to troubleshoot this?

EDIT: Here is an example script that demonstrates the problem. The error message appears as soon as one attempts to add mesh_test topic in RViz menu.

#!/usr/bin/env python3
import os
import sys
import subprocess
import time
import rclpy
from rclpy.qos import QoSHistoryPolicy, QoSProfile
from tf2_msgs.msg import TFMessage
from geometry_msgs.msg import TransformStamped
from visualization_msgs.msg import Marker, MarkerArray
from geometry_msgs.msg import Point, Vector3
from std_msgs.msg import ColorRGBA

MESH_POSITION = Point(x=-1.07,
                      y=0.0,
                      z=0.0)

def bring_up_rviz():
    rviz = subprocess.Popen(
        'ros2 run rviz2 rviz2',
        shell=True)
    def rvizkiller():
        return rviz.poll() is not None
    return rvizkiller

if __name__ == "__main__":

    rclpy.init(args=sys.argv)
    node = rclpy.create_node('SFViewer')
    qos_profile = QoSProfile(depth=1)
    qos_profile.history = QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST

    tfpublisher = node.create_publisher(TFMessage, '/tf', qos_profile=qos_profile)
    meshpublisher = node.create_publisher(MarkerArray, 'mesh_test', qos_profile=qos_profile)

    should_exit = bring_up_rviz()

    x = 0.
    y = 0.
    while rclpy.ok() and not should_exit():
        ros_time = node.get_clock().now()

        x = x+1
        y = y+1

        tf = TransformStamped()
        tf.header.frame_id = 'map'
        tf.child_frame_id = 'test'
        tf.transform.translation.x = x
        tf.transform.translation.y = y
        tf.transform.translation.z = 0.
        tf.transform.rotation.w = 1.
        tf.transform.rotation.x = 0.
        tf.transform.rotation.y = 0.
        tf.transform.rotation.z = 0.
        tf.header.stamp = ros_time.to_msg()
        tfpublisher.publish(TFMessage(transforms=[tf]))


        output = MarkerArray()
        marker = Marker()
        marker.id = 1
        marker.frame_locked = True
        marker.action = Marker.ADD
        marker.header.frame_id = 'test' 
        marker.header.stamp = ros_time.to_msg()
        marker.type = Marker.SPHERE
        marker.mesh_use_embedded_materials = False
        marker.scale = Vector3(x=10.0, y=10.0, z=10.0)
        marker.color = ColorRGBA(r=0.5, g=0., b=0.5, a=0.8)
        marker.pose.position = MESH_POSITION
        marker.ns = 'Position'
        output.markers.append(marker)
        meshpublisher.publish(output)

        time.sleep(1.0)

ros2 topic echo /<topic_name>

def bring_up_rviz():
    outfile = open('/tmp/mesh_test_out.txt', 'w')
    rviz = subprocess.Popen(
        'ros2 run rviz2 rviz2',
        shell=True, stdout=outfile, stderr=subprocess.STDOUT)
    def rvizkiller():
        return rviz.poll() is not None
    return rvizkiller