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How to configure /clock topic in launch file - costmap_2d

asked 2013-09-05 12:43:35 -0600

updated 2013-09-08 09:52:49 -0600


I have this case, when I use rosrun costmap_2d costmap_2d_node everything works fine and I get my costmap. But I tried to run this node from a launch file, but this warning appears in the log:

[ WARN] [1378418356.560509543]: Costmap2DROS transform timeout. Current time: 1378418356.5604, global_pose stamp: 1.6400, tolerance: 0.3000
[ WARN] [1378418356.622218511]: Could not get robot pose, cancelling reconfiguration

So I supposed was something related with /clock topic. Comparing rosnode info /costmap_2d of both executions, the only difference is this connection when using rosrun:

 * topic: /clock
    * to: /vinter_sim (<a href="http://gustavo-HPprobook:36184/">http://gustavo-HPprobook:36184/</a>)
    * direction: inbound
    * transport: TCPROS

What should I do to correctly run this node from .launch file?

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Thanks, I add this line `param name="use_sim_time" value="true"/` and it works.

gustavo.velascoh gravatar image gustavo.velascoh  ( 2013-09-08 09:48:05 -0600 )edit

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answered 2013-09-08 09:51:32 -0600

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

As @felix_k said, I add this line to may launch file and it works:

<param name="use_sim_time" value="true"/>


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answered 2013-09-05 22:22:18 -0600

felix k gravatar image

Do you set `use_sim_time` somewhere within that launch file or within any included launch file?

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Asked: 2013-09-05 12:43:35 -0600

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Last updated: Sep 08 '13