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Quick comment: you mention Gazebo, and a "driver". Gazebo doesn't use drivers, only plugins. If you're mixing Gazebo with real hardware, getting timestamps consistent is going to be challenging.

One of the symptoms would be really "small" timestamps (such as the value you show: 4479.536) and "normal" values (such as 1636617041.xyz), which is the current value of the wallclock.

Trying to lookup transforms across such a huge difference in time will cause errors such as the one you mention.

Quick comment: you mention Gazebo, and a "driver". Gazebo doesn't use drivers, only plugins. If you're mixing Gazebo with real hardware, getting timestamps consistent is going to be challenging.

One of the symptoms would be really "small" timestamps (such as the value you show: 4479.536) and "normal" values (such as 1636617041.xyz), which is the current value of the wallclock.

Trying to lookup transforms across such a huge difference in time will cause errors such as the one you mention.


Edit 1:

@gvhoorn any ideas where to tune these time...and how to find what is causing it to happen??

No. I don't.

I'd suggest to make sure you have use_sim_time set everywhere.