Update / change tf time stamp

asked 2020-09-28 05:18:41 -0500

Tillman gravatar image

Hi,

I use ROS1 with a mir100. The mir publishes via a ros bridge tf frames. Unfortunately the system time of the mir cannot be synchronized precisely with the time of the ROS system and in addition it drifts away relatively fast. Thus tf refuses the published transformation.

My idea to solve the problem would be to take the initial time difference and then apply this difference to every published tf-transformation.

Can anyone think of an approach how this could be implemented? Maybe there is a fundamentally better solution for this problem. I am open for everything.

Regards Tillman

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