/tf sends messages at different timestamp
I have a /tf message that seems to send messages at different timestamps. I added comments "// Look here" to highlight the stamps in secs and Im mostly intrigued by the one with the comment "// Look here !!" as the time stamp in secs has absolutely different timestamp. However, the next after that one follows the the pattern as the majority.
Why does this happen?
--
transforms:
-
header:
seq: 0
stamp:
secs: 1305031234 // Look here
nsecs: 763107844
frame_id: /kinect
child_frame_id: /openni_camera
transform:
translation:
x: -0.0112272525515
y: 0.0502554918469
z: -0.0574041954071
rotation:
x: 0.129908557896
y: -0.141388223098
z: 0.681948549539
w: 0.705747343414
-
header:
seq: 0
stamp:
secs: 1305031234 // Look here
nsecs: 763107844
frame_id: /world
child_frame_id: /kinect
transform:
translation:
x: 1.28183615112
y: 0.60716934967
z: 1.60902340698
rotation:
x: -0.226407331155
y: -0.209261051914
z: 0.662704621347
w: 0.682474993971
---
transforms:
-
header:
seq: 0
stamp:
secs: 1551776935 // Look here !!!
nsecs: 528851222
frame_id: world
child_frame_id: camera_pose
transform:
translation:
x: 0.0543486074629
y: -0.0490532501685
z: -0.083467717153
rotation:
x: 0.0249910632545
y: -0.369232593093
z: 0.0535471565154
w: 0.927456436165
---
transforms:
-
header:
seq: 0
stamp:
secs: 1305031234 // Look here
nsecs: 773104542
frame_id: /kinect
child_frame_id: /openni_camera
transform:
translation:
x: -0.0112272525515
y: 0.0502554918469
z: -0.0574041954071
rotation:
x: 0.129908557896
y: -0.141388223098
z: 0.681948549539
w: 0.705747343414
Can you post your tree?
It's likely there are either multiple hosts involved that don't have their clocks synchronised, or a bag is being played together with live nodes.
@gvdhoorn, what do you mean by live nodes? @EdwardNur, updated my question with the tree,
"live nodes" as in: nodes that publish messages that are not part of the bag. That is of course ok, but then
use_sim_timeshould probably be used. If the bag contains messages "from the past" (as they probably all do), then not settinguse_sim_timewill cause "real time" to be mixed with old .... stamps, which can lead to issues such as the one you show here.
Whether that is the case here depends of course on you: only you know how you configured your system.
According to the screenshot of your TF tree, it would appear that you have
rosbag playrunning andcamera_poseis being broadcast by the/Mononode.Are you specifying
--clock?/Monoseems to be using Wallclock, not the clock from the bag.Nope, not using clock. Will check it out.
@gvdhoorn, setting up --clock didnt work. I get the same issue.