Hello, I'm trying to use

rosrun tf2_tools view_frames.py

but I get spammed with warnings:

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 684.167000 according to authority /tb3_1/robot_state_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp

I also tried writing python code with a listener, but I get almost the same warnings, here's the code:

import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan
import math
import tf2_ros

class move_bot:
    def __init__(self):
        self.pub = rospy.Publisher("tb3_1/cmd_vel",Twist,queue_size=100)
        self.sub = rospy.Subscriber("tb3_1/scan",LaserScan,self.callback)
        self.linx = 1
        self.angz = 0.2


    def control(self):
        move = Twist()

        K_d = 0.005
        #K_beta


        move.linear.x = self.linx
        move.angular.z = self.angz


        #xi_d = (error_d/rho_d)

        #epsilon_d = log((1+(xi_d/M_d))/(1+(xi_d/M_d)))

        #v = Kd*epsilon_d
        #w = K_beta*rho_inv*r_beta*epsilon_beta


        self.pub.publish(move)

    def callback(self,msg):
        min_dist = 1
        print(msg.ranges[0])
        if(msg.ranges[0]<min_dist):
            self.linx = -1
        else:
            self.linx = 1


if __name__ == '__main__':
    rospy.init_node("simple_follow")
    rate = rospy.Rate(1)
    obj = move_bot()

    tfBuffer = tf2_ros.Buffer(rospy.Duration(1200.0))
    listener = tf2_ros.TransformListener(tfBuffer)

    while not rospy.is_shutdown():
        try:
            trans = tfBuffer.lookup_transform("tb3_1", "tb3_1/base_footprint", rospy.Time(0))
        except(tf2_ros.LookupException, \
                tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):  
            rate.sleep()
            continue

        #x = trans[0]
        #print(x)
        #obj.control()

Wondering what could be the problem. Thanks in advance

Edit:

For multiple robots I just took the file from the turtlebot3gazebo pack, this file: https://github.com/ROBOTIS-GIT/turtlebot3simulations/blob/master/turtlebot3gazebo/launch/multiturtlebot3.launch , and just made adjustments so that there are two turtlebots instead of 3, and then just added the roslinkattacher plugin and an aruco marker to the world.

This is the tf tree

This is my world file:

<sdf version='1.6'>
  <world name='default'>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

        <!--
     <include>
      <uri>model://marker</uri>
    </include>
    -->


    <plugin name="ros_link_attacher_plugin" filename="libgazebo_ros_link_attacher.so" />

    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <ode>
        <solver>
          <type>quick</type>
          <iters>150</iters>
          <precon_iters>0</precon_iters>
          <sor>1.400000</sor>
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0.00001</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.01000</contact_surface_layer>
        </constraints>
      </ode>
    </physics>

    <!-- Load world -->
    <include>
      <uri>model://turtlebot3_square</uri>
    </include>

    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>true</shadows>
    </scene>

    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>0.0 0.0 17.0 0 1.5708 0</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>

and this is my launch file:

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>

  <arg name="first_tb3_x_pos" default="0.0"/>
  <arg name="first_tb3_y_pos" default="1.0"/>
  <arg name="first_tb3_z_pos" default=" 0.0"/>
  <arg name="first_tb3_yaw"   default=" 1.57"/>

  <arg name="second_tb3_x_pos" default=" 0.0"/>
  <arg name="second_tb3_y_pos" default="0.0"/>
  <arg name="second_tb3_z_pos" default=" 0.0"/>
  <arg name="second_tb3_yaw"   default=" 1.57"/>



  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/custom_world2.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>  


    <!-- Start marker detector--> 
  <node name="aruco_detect" pkg="aruco_detect" type="aruco_detect">
    <param name="image_transport" value="compressed" />
    <param name="publish_images" value="true" />
    <param name="fiducial_len" value="0.15" />
    <param name="dictionary" value="0" />
    <param name="do_pose_estimation" value="true" />
    <param name="ignore_fiducials" value="" />
    <param name="fiducial_len_override" value="" />
    <remap from="/camera/compressed" to="/tb3_1/camera/rgb/image_raw/compressed"/>
    <remap from="/camera_info" to="/tb3_1/camera/rgb/camera_info"/>
  </node> 


  <group ns = "$(arg first_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg first_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
  </group>

  <group ns = "$(arg second_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg second_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
  </group>

</launch>

Type: tf2_msgs/TFMessage

Publishers: 
 * /tb3_0/robot_state_publisher (http://roshan-Komplett-PC:44071/)
 * /tb3_1/robot_state_publisher (http://roshan-Komplett-PC:36189/)
 * /aruco_detect (http://roshan-Komplett-PC:38331/)
 * /gazebo (http://roshan-Komplett-PC:35495/)

Subscribers: None