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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


Originally posted by zhiping on ROS Answers with karma: 45 on 2011-03-15

Post score: 0


Original comments

Comment by zhiping on 2011-03-15:
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)

Comment by tfoote on 2011-03-15:
Can you be a little more specific about your setup. In general Stage works fine with tf.

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


Originally posted by Tully with karma: 1145 on 2011-03-15

This answer was ACCEPTED on the original site

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Original comments

Comment by zhiping on 2011-03-15:
Thank a lot. Using simulation time does solve the problem.

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