Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

tf frames in different time epoch from ros time?

asked 2013-05-08 20:38:54 -0500

Ernest
341 ●13 ●20 ●28 http://oppetit.me/

updated 2014-01-28 17:16:28 -0500

ngrennan
1 ●1 ●1

I am trying to tackle the following warning when running Navigation:

[ WARN] [1368081077.201722266]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1368081077.401579990]: Costmap2DROS transform timeout. Current time: 1368081077.4015, global_pose stamp: 136.4000, tolerance: 0.3000

The transform timed out because the time & the pose stamp are extremely different. Are they in different time epochs? If so, how can that be solved?

Thanks,

Ernest

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-05-09 01:31:12 -0500

Martin Günther

11816 ●82 ●159 ●198 https://www.dfki.de/en...

You're probably running Gazebo and missing the use_sim_time parameter. Try the following:

roscore
rosparam set use_sim_time true
Now start launching the rest of your system.

The explanation is that the navigation stack was probably launched before the use_sim_time parameter was set (so it uses wall time: 1368081077.4015), and the thing publishing the TF transforms was launched afterwards (so it uses sim time: 136.4000).

edit flag offensive delete link

Comments

spot on! that solved the problem. Thank you very much.

Ernest ( 2013-05-09 08:34:03 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2013-05-08 20:38:54 -0500

Seen: 760 times

Last updated: May 09 '13

tf frames in different time epoch from ros time? edit

1 Answer

Comments

Question Tools

Stats

Related questions

tf frames in different time epoch from ros time?