ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Interactive Marker with rosbag "ROS Time moved backwards"

asked 2016-04-28 13:57:37 -0500

curranw gravatar image

I'm using rqt_bag to visualize a rosbag in RViz. Independently of that, I publish a interactive marker that changes colors based on a topic being published. This works well, until I move backwards in the rosbag, then the interactive marker throws an exception because the ROS time moved backwards. Specifically, the sleep() method in the rospy timer ( ).

I've tried changing the interactive marker header stamp to and I've tried just a static non-changing time.

I've also tried deleting the interactive marker whenever I go backwards in time, but the error procs before I can delete the marker.

Am I trying to do something that is not possible with the way Interactive Markers work?

I have use_sim_time set to true and --clock set.


edit retag flag offensive close merge delete


I also get the "ROS time moved backwards" when trying to use rospy.sleep() with rosbag play -l, and I finally get around it by using time.sleep() instead.

lunmre gravatar image lunmre  ( 2017-03-17 06:00:07 -0500 )edit

I've converted your answer to a comment, as what you propose is not really a solution: rospy.sleep() uses ROS Time, while time.sleep() uses walltime, which may not be the same (fi if you're playing a bag, or using a simulator).

gvdhoorn gravatar image gvdhoorn  ( 2017-03-17 06:59:42 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2019-09-10 04:29:08 -0500

moooeeeep gravatar image

The issue is caused by the default response behavior of rospy.Timer when confronted with a /clock signal jumping backwards.

This shouldn't be an issue here, so it should be possible to just ignore the incident and reset the timer. I suggested a patch in this PR.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2016-04-28 13:57:37 -0500

Seen: 2,190 times

Last updated: Sep 10 '19