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The static publisher was running on a separate computer. By running it on the robot this problem disappeared. But I need it to work on the workstation computer. How can I make it work?

Have you checked the clocks on both computers? TF has a temporal aspect to it, and if the clocks are not in sync, things start to go wrong.

From wiki.ros.org/Clock - Introduction:

When using wall-clock time on multiple machines, it is important that you synchronize time between them. ROS does not provide this functionality as there are already well-established methods (e.g. ntp) for doing this. If you do not synchronize the wall-clocks of multiple machines, they will not agree on temporal calculations like those used in tf.

See also Why robot needs to set NTP? fi.

EDIT:

The static publisher was running on a separate computer. By running it on the robot this problem disappeared. But I need it to work on the workstation computer. How can I make it work?

Have you checked the clocks on both computers? TF has a temporal aspect to it, and if the clocks are not in sync, things start to go wrong.

From wiki.ros.org/Clock - Introduction:

When using wall-clock time on multiple machines, it is important that you synchronize time between them. ROS does not provide this functionality as there are already well-established methods (e.g. ntp) for doing this. If you do not synchronize the wall-clocks of multiple machines, they will not agree on temporal calculations like those used in tf.

See also Why robot needs to set NTP? fi.

EDIT:

The static publisher was running on a separate computer. By running it on the robot this problem disappeared. But I need it to work on the workstation computer. How can I make it work?

Have you checked the clocks on both computers? TF has a temporal aspect to it, and if the clocks are not in sync, things start to go wrong.

From wiki.ros.org/Clock - Introduction:

When using wall-clock time on multiple machines, it is important that you synchronize time between them. ROS does not provide this functionality as there are already well-established methods (e.g. ntp) for doing this. If you do not synchronize the wall-clocks of multiple machines, they will not agree on temporal calculations like those used in tf.

See also wiki.ros.org/ROS/NetworkSetup - Timing issues, TF complaining about extrapolation into the future?, and Why robot needs to set NTP? fi.