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TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_left_wheel at time 618.268000 according to authority unknown_publisher

asked 2021-05-06 01:10:13 -0500

harish556 gravatar image

updated 2021-05-06 14:47:29 -0500

jayess gravatar image

when ever i start my navigation stack i get this error

    Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_left_wheel at time 618.268000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_right_wheel at time 618.268000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ WARN] [1620280861.746819185, 618.270000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_left_wheel at time 618.268000 according to authority unknown_publisher
[ WARN] [1620280861.747013021, 618.270000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_right_wheel at time 618.268000 according to authority unknown_publisher
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Have you been able to track down why you are getting this warning message?

sgarciav gravatar image sgarciav  ( 2021-05-22 11:18:43 -0500 )edit

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answered 2021-11-12 16:41:44 -0500

cyberguy42 gravatar image

The warning message is due to a change in transform-handling behavior. In short, it used to be the case that a redundant transform (one with the same timestamp and frame_ids as a previously received transform) would be added to the transform cache alongside the original one. This was apparently not intended behavior, and as of noetic redundant transforms are ignored and a warning is printed (see this issue for more details). You are definitely not the only one to encounter this, as evidenced by this discussion. It's up to you whether to try to hunt down the source of the redundant transforms in your setup and fix it or to just ignore the warnings.

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Asked: 2021-05-06 01:10:13 -0500

Seen: 1,707 times

Last updated: Nov 12 '21