Elapsed time goes weird

asked 2020-11-01 21:46:45 -0500

akihiko gravatar image

Hello, I'm experiencing periodic Moved backwards in time errors from robot_state_publisher. I'm not using rosbag. I'm using my-own simple kinematic simulator where is a program to publish joint state with time stamp =rospy.Time.now(). Investigating this issue, I noticed that the ROS Elapsed Time displayed on RViz goes weird in every 60 sec, and I guess this is causing the Moved backwards in time errors.


  • OS: Ubuntu 16.04 on VMWare
  • ROS: kinetic (ROS1)
  • RViz version: 1.12.15 (kinetic)

Reproducing the issue:

  • Run roscore
  • Run rosrun rviz rviz
  • (Nothing is added to RViz other than Global Options)


  • Every 60s, ROS Elapsed jumps 3 secs at 56 (56 --> 59) then goes to a huge value.
  • After a while, the value is reset to 0, and keep incrementing.

Video (please watch it in the highest quality or download it): https://drive.google.com/file/d/1eWoR...

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Is there anything besides roscore and rviz running when this happens? If so, please post your launch file(s) and any code you're using.

tryan gravatar image tryan  ( 2020-11-24 13:38:33 -0500 )edit