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Faulty (Future) /tf Time in Gazebo?

asked 2012-08-07 13:40:41 -0500

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A possible bug in tf or gazebo: I'm using the default pr2 gazebo simulator, and simulating base and tilting laser as well as the cameras.

When I look at the tf more closely, the time associated with this link is in the future by about a half second: /base_link --> /base_laser_link

... when compared to /clock itself and other tf links (e.g. to the tilting laser or the cameras)

Has anyone noticed tf publishing a link labelled in the future - specifically in gazebo simulation?

ROS Electric | Ubuntu 11.10

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answered 2012-08-07 22:42:36 -0500

Lorenz gravatar image

The tf tree of the robot is not published by gazebo directly but by the robot_state_publisher node. Have a look at its wiki page. It explicitly states that all static transforms are future dated by 0.5 seconds. See here and here for an explanation of the reasons for future-dating transforms.

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Asked: 2012-08-07 13:40:41 -0500

Seen: 89 times

Last updated: Aug 07 '12