Why could the time stamp for my bumper plugin be zero?

asked 2016-09-01 13:45:03 -0600

Mav16 gravatar image


I've got a bumper plugin on the r_foot link of the Atlas robot. The plugin publishes correct data to the topic, but the sec & nsec values in the header are always 0. I tried using the rosparam set usesimtime True but there's no effect. Other topics show the time stamp correctly.


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Don't set /use_sim_time unless you're actually running a simulation.

ahendrix gravatar image ahendrix  ( 2016-09-01 16:45:22 -0600 )edit

Alright, but how do I solve the issue of ROS not publishing the time in the header for this particular topic?

Mav16 gravatar image Mav16  ( 2016-09-02 11:00:51 -0600 )edit

I don't know any specifics about Atlas (hence why this isn't a full answer). I do know that the ROS libraries don't automatically set the timestamps, so perhaps this is a bug in the bumper plugin that publishes those messages?

ahendrix gravatar image ahendrix  ( 2016-09-02 11:31:17 -0600 )edit

Thanks, I'll look into it.

Mav16 gravatar image Mav16  ( 2016-09-02 11:36:32 -0600 )edit

I have the same issue. The contacts are there in gazebo7, the collisions have an effect on the robot configuration as it should, but the ContactSensor messages have their timestamp set to zero and the 'states' array (where all the contacts should be) is empty.

neckutrek gravatar image neckutrek  ( 2016-12-13 06:53:46 -0600 )edit