Revision history [back]

Static transforms are not latched anymore after filtering, see issue referred by@ahendrix in comments above: https://github.com/ros/ros_comm/issues/685

Workaround: create again the static transforms (from $ rostopic echo /tf_static of the original bag):

<launch>
   <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0.0797399667325 0.0797399667325 -0.702596283584 0.702596283584 device imu 100" />
   <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0.0614856 0.00362063075446 -0.00414834496616 -0.990888233858 -0.00632257304794 0.00756104017168 0.134325588569 device camera_depth 100" />
   <node pkg="tf" type="static_transform_publisher" name="link3_broadcaster" args="0.0107366 0.00259880751323 -0.00281526009239 -0.990532183761 -0.00782511402323 0.00422548927873 0.136992356591 device camera_fisheye 100" />
   <node pkg="tf" type="static_transform_publisher" name="link4_broadcaster" args="0.0614856 0.00362063075446 -0.00414834496616 -0.990888233858 -0.00632257304794 0.00756104017168 0.134325588569 device camera_color 100" />
</launch>

Also don't forget to use <param name="use_sim_time" value="true"/> with rosbag play --clock when replaying the bags.

I also noticed that the clock published by the bag is not synchronized with stamps in topics: it starts at time ~1494273103.819191 while topics start at time ~1494273096.775229216. Topics are ~7 seconds in the past. Is the clock of the computer recording the bag synchronized with tango clock?

cheers,

Mathieu