Odometry publishes more than one sample with identical timestamp

asked 2017-04-13 04:27:34 -0500

skruzic gravatar image

I'm recording odometry and input speeds with rosbag in order to be able to process it later, draw trajectories, etc. Everything is done in simulation using Gazebo and Turtlebot.

The strange thing that happens is that there is about 20% of recorded samples have the same timestamp as other samples, which makes using this data almost impossible. I tried with different simulation step sizes and solvers and eliminated both of them as a reason. I also tried recording on another PC with a better processor and more memory and it did not help either. However, this does not happen when using real Turtlebot.

Can anyone give some advice on what to do?

P.S. I can provide examples if needed.

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