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TF_OLD_DATA ignoring data from the past for frame odom

asked 2015-01-28 08:19:57 -0600

Diego gravatar image

updated 2015-01-28 10:48:42 -0600

Thomas D gravatar image

Hello everyone

I was using ROS hydro, however I updated Ubuntu and installed ROS indigo in my computer. I am writing to you because I am currently trying to make a robot which goes from an estimated point to an aim point, for this I need to use tf (to find the robots estimated position), but when I execute my program the following warnings appear

warn: worldfile /home/diego/MobileRobots/src/AIS_worlds/LBH_floor_1.world:43 : property [interval_real] is defined but not used (/tmp/buildd/ros-indigo-stage-4.1.1-2trusty-20141229-2215/libstage/worldfile.cc WarnUnused)
warn: worldfile /home/diego/MobileRobots/src/AIS_worlds/LBH_floor_1.world:40 : property [gui_movemask] is defined but not used (/tmp/buildd/ros-indigo-stage-4.1.1-2trusty-20141229-2215/libstage/worldfile.cc WarnUnused)
warn: worldfile /home/diego/MobileRobots/src/AIS_worlds/LBH_floor_1.world:44 : property [laser_return] is defined but not used (/tmp/buildd/ros-indigo-stage-4.1.1-2trusty-20141229-2215/libstage/worldfile.cc WarnUnused)
warn: worldfile /home/diego/MobileRobots/src/AIS_worlds/LBH_floor_1.world:25 : property [laser_return] is defined but not used (/tmp/buildd/ros-indigo-stage-4.1.1-2trusty-20141229-2215/libstage/worldfile.cc WarnUnused)
warn: worldfile /home/diego/MobileRobots/src/AIS_worlds/LBH_floor_1.world:42 : property [range_max] is defined but not used (/tmp/buildd/ros-indigo-stage-4.1.1-2trusty-20141229-2215/libstage/worldfile.cc WarnUnused)
warn: worldfile /home/diego/MobileRobots/src/AIS_worlds/LBH_floor_1.world:44 : property [resolution] is defined but not used (/tmp/buildd/ros-indigo-stage-4.1.1-2trusty-20141229-2215/libstage/worldfile.cc WarnUnused)
[ INFO] [1422453286.760958942]: found 1 position and laser(1)/camera(0) pair in the file
Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.5 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.7-0trusty-20141230-0040/src/buffer_core.cpp

I can cope with this if this it's just a simple problem or something with no importance (the map is loading perfectly), however the warning of TF_OLD_DATA is appearing at every 0.1s, Additionally I suspect that the robot is not receiving estimated position correctly:

[ INFO] [1422454423.865170946, 13.100000000]: POS estimated_x = 33.027127, aim_X= 33.800000, estimated_y =7.292175, aim_Y= -40.000000, dist = 47.298490
[ INFO] [1422454423.865415347, 13.100000000]: POS estimated_x = 33.027127, aim_X= 33.800000, estimated_y =7.292175, aim_Y= -40.000000, dist = 47.298490
Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 13.3 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.7-0trusty-20141230-0040/src/buffer_core.cpp
[ INFO] [1422454423.968773001, 13.200000000]: POS estimated_x = 33.027127, aim_X= 33.800000, estimated_y =7.292175, aim_Y= -40.000000, dist = 47.298490
[ INFO] [1422454423.969095065, 13.200000000]: POS estimated_x = 33.079496, aim_X= 33.800000, estimated_y =7.323241, aim_Y= -40.000000, dist = 47.328725
Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 13.4 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.7-0trusty-20141230-0040/src/buffer_core.cpp
[ INFO] [1422454424.062837413, 13.300000000]: POS estimated_x = 33 ...
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is this all running on the same computer, or are some nodes running on different machines running on your network? (I'm wondering if it's a networking problem rather than a ROS-specific problem.)

Morgan gravatar imageMorgan ( 2015-01-28 13:50:30 -0600 )edit

They are running on the same computer. Actually it's just one .cpp file. I can put it here if you want. Also I can upload the .launch file in case there is something missing

Diego gravatar imageDiego ( 2015-01-28 16:16:03 -0600 )edit

If you can provide a way for us to reproduce the problem, then we can really help you. Otherwise it's mostly guessing.

tfoote gravatar imagetfoote ( 2015-01-28 16:36:53 -0600 )edit

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answered 2015-01-28 14:12:43 -0600

tfoote gravatar image

The error messages suggest you're running with simulated time. Make sure that you've set the flag to make sure the whole system is using simulated time by setting the parameter "use_sim_time" before you start any nodes.

http://wiki.ros.org/Clock

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Thank you so much. I just put it before the node started in the .launch file and that's it.

Diego gravatar imageDiego ( 2015-01-28 16:37:52 -0600 )edit

Glad to hear it worked. Please accept the answer using the checkmark button at the left so others know it's resolved.

tfoote gravatar imagetfoote ( 2015-01-28 17:29:14 -0600 )edit

thank u so much for the help.it worked

npa gravatar imagenpa ( 2015-12-17 00:37:07 -0600 )edit

Hi, I met with the same problem, but can you tell me how I can set the use_sim_time parameter? Thanks

Chunting gravatar imageChunting ( 2017-03-19 04:29:06 -0600 )edit

@Chunting: in the launch file, write <param name="/use_sime_time" value="false"/>

gavran gravatar imagegavran ( 2017-03-20 02:27:55 -0600 )edit

@gavran that should be value="true"

tfoote gravatar imagetfoote ( 2017-03-20 12:42:38 -0600 )edit

yes, you are right!

gavran gravatar imagegavran ( 2017-03-24 11:23:39 -0600 )edit

@Chunting small misspelling. Should be: <param name ="/use_sim_time" value="true"/>

surfertas gravatar imagesurfertas ( 2017-03-29 06:15:17 -0600 )edit

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Asked: 2015-01-28 08:19:57 -0600

Seen: 8,073 times

Last updated: Mar 19 '17