clock problems with bag files

asked 2015-03-18 22:23:58 -0500

scar gravatar image

updated 2015-03-19 10:40:36 -0500

Hi, I am experiencing some problems here with bag files. I am running simulations with a bag file, I set --clock and use_sim_time true and yes I get the WARNING message when trying to run some nodes. As you can see from the launch file below I am only using ROS, not Gazebo and only .cpp nodes.

<launch>

  <param name="use_sim_time" type="boolean" value="true" />  

  <node pkg="rosbag" type="play" name="player" output="screen" args=" -r 1 --clock /home/marcello/test1.bag"/>

  <node pkg="redphare" type="imu_filter" name="imu_filter"></node>

  <include file="$(find robot_localization)/launch/ekf_template.launch" />

  <node name="modelvisualisation" pkg="rviz" type="rviz" output="screen" />

  <node name="graph" pkg="rqt_plot" type="rqt_plot" output="screen" />

  <node name="graph" pkg="rqt_plot" type="rqt_plot" output="screen" />
</launch>

And the node which is not publishing any more is the one included in the "ekf_template.launch" file (way too long to be posted!)

I did not explicitly set us_sim_time true within this launch file but it worked well for a while, should I?

This launch file has been working for a while but not any more. The only thing I can think of is that I added some python nodes within the package and yet the py nodes are not included in the launch file.

Would it be possible that any system update or any other system setting might have affected the clock behaviour?

Thanks in advance Marcello

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Comments

roscpp and rospy should both work well with a simulated clock (/clock topic). Please include more details in your question.

ahendrix gravatar image ahendrix  ( 2015-03-19 01:03:18 -0500 )edit

What you mean with "simulations"? Just playback of the bag? That is ok, but you cannot have e. g. GAZEBO and a BAG running with /clock because they will both publish different stamps to the clock....

Wolf gravatar image Wolf  ( 2015-03-19 02:16:50 -0500 )edit