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TF_OLD_DATA ignoring data from the past for frame openni_depth_optical_frame

asked 2015-04-07 05:15:46 -0500

J.M.T. gravatar image


I need to play my bagfile with the -l loop parameter. However after the time is reset, I get a lot of these errors:

Warning: TF_OLD_DATA ignoring data from the past for frame openni_depth_optical_frame at time
1.30503e+09 according to authority unknown_publisher Possible reasons are listed at
         at line 260 in /Users/usr/ros_catkin_ws/src/geometry_experimental/tf2/src/buffer_core.cpp

According to that wiki entry, one would send an Empty message the topic /reset_time. However, it seems that this topic has been removed a long time ago. What is the currently recommended way to deal with this time reset problem?

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answered 2015-04-07 20:47:15 -0500

tfoote gravatar image

Are you publishing the clock? More recent tf implementations clear the buffer when negative time jumps are detected.

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Yes, I am publishing the clock, also sim_time is being used.

<node name="player" pkg="rosbag" type="play" output="screen" args="--clock -l --pause -r 0.5 $(find phx_vo)/data/rgbd_dataset_freiburg1_desk.bag"/>

J.M.T. gravatar imageJ.M.T. ( 2015-04-07 23:17:17 -0500 )edit

/clock is definitely being published, but it seems to hang from time to time. This may be related to my question

J.M.T. gravatar imageJ.M.T. ( 2015-04-20 08:44:31 -0500 )edit

Hi J.M.T., did you figure this out? I have a very similar issue. The weird thing is that for me it all works, so the tfs are being published, but I just get lots of these TF_OLD_DATA messages cluttering up my terminal.

dmurphy gravatar imagedmurphy ( 2016-06-30 12:56:09 -0500 )edit

answered 2017-08-11 03:53:14 -0500

elchtest gravatar image

Solution to this can be found here:

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Asked: 2015-04-07 05:15:46 -0500

Seen: 2,633 times

Last updated: Aug 11 '17