[ROS2] Sim time returns system time
I am looking at this code here:
tf2::TimePoint tf2_time( time_utils::toTimePoint( node.now()) );
bool simTime;
node.get_parameter("use_sim_time", simTime);
RCLCPP_INFO( node.get_logger(), "canTransform for time %ld, sim time: %d", tf2_time.time_since_epoch().count(), simTime );
And I would expect it to return some time like x seconds after simulation started.
But instead I get:
canTransform for time 1566378606048445614, sim time: 1
Can not transform: Lookup would require extrapolation into the future. Requested time 1566378606.04844 but the latest data is at time 119.27300,
So sim time is set, I get the nodes time, but its wrong.
Dont see where I am doing something wrong?
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