urg_node timestamp way too far in the future
I am trying to get the urg_node to publish scans to the default topic (laser) and the default frame_id (laser).
It all works fine when I couple the commands: rosrun urg_node urg_node _ip_address:="192.168.0.10" _ip_port:-"10940" and rosrun tf static_transform_publisher 0 0 0 0 0 0 map laser 40 in two terminals.
But my original intention is to be able to publish it on the laser topic and have the map to laser transform as NOT static. But this means that the transform now has an additional requirement that they their time stamps should be synchronized. But they are not! The laser messages are being published with the time stamp on a scale of 1454425297 seconds as opposed to the rest of the nodes (including the ones publishing the other transforms) which are on a scale of just a few 100 seconds (corresponding to the time passed since I started the roscore).
I would also like to note that I am using gazebo to publish these other transforms.
My question is:
Obviously these time stamps have to match up and there are only two obvious approaches:
- Somehow get the lidar to publish laser messages with the timestamp of the gazebo nodes.
- Have all other nodes publish messages with the timestamp of the LIDAR.
Unfortunately, I am unable to do either.
Things I tried:
rosrun urg_node urg_node _ip_address:="192.168.0.10" _ip_port:-"10940" calibrate_time:="true"rosrun urg_node urg_node _ip_address:="192.168.0.10" _ip_port:-"10940" time_offset:-"-1454425297.0"<include file="$(find manas_ackermann_navigation)empty_world.launch"> <param name="use_sim_time" value="true"/> </include>
