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tf timing problem when using STAGE simulation

asked 2011-03-15 01:16:53 -0600

zhiping gravatar image

updated 2011-03-15 19:57:06 -0600

Hi to all,

I'm currently trying to simulate the behavior of my robot using STAGE simulation but the tf timing from STAGE is too slow with a time interval of 13 x10^6 second. I tried to overcome this problem by overwrite the tf using the static transform publisher but the time become negative with this warning:

TF_OLD_DATA ignoring data from the past for frame /base_footprint at time 12.6 according to authority /Stage_Node

How should i approach this problem?

With thanks, Zhiping

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Can you be a little more specific about your setup. In general Stage works fine with tf.
tfoote gravatar image tfoote  ( 2011-03-15 05:22:38 -0600 )edit
I'm trying to link the STAGE, move_base and gmapping together in order to simulate a online SLAM. The TF link is /map (slam_gmapping) >> /odom (Stage_node)>>/base_footprint (Stage_node) >> /base_link (Stage_node) >> /base_laser_link (Stage_node)
zhiping gravatar image zhiping  ( 2011-03-15 19:00:46 -0600 )edit

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answered 2011-03-15 19:27:52 -0600

Tully gravatar image

With that big of an error, make sure to set /use_sim_time properly before starting all processes. See the Clock documentation.

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Thank a lot. Using simulation time does solve the problem.
zhiping gravatar image zhiping  ( 2011-03-15 22:01:17 -0600 )edit

answered 2011-12-11 22:35:23 -0600

apalomer gravatar image


I'm trying to use this parameter because I have the same error approximately. The thing is that I really don't know how to use that parameter and the Clock wiki doesn't say anything to help with it's use...

Could you please explain how you used it to solve your problem?


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Asked: 2011-03-15 01:16:53 -0600

Seen: 1,541 times

Last updated: Dec 11 '11