Rosanswers logo

I have a doubt regarding the robot state publisher node. I am loading an urdf file validated with the check_urdf. When launching the robot state publisher, I obtain some suspicious values on the Average Delay field.

I am running under Electric version and the launch file I am using looks like the following:

<!-- robot urdf model -->
<param name="robot_description" command="cat $(find robot_base)/model/robot_base.urdf" />

<!-- robot state publisher node -->
<node pkg ="robot_state_publisher"

The tf_monitor outputs this result:

RESULTS: for all Frames

Frame: /front_laser published by /robot_state_publisher Average Delay: -0.499885 Max Delay: 0
Frame: /rear_laser published by /robot_state_publisher Average Delay: -0.499884 Max Delay: 0
Frame: /vertical_laser published by /robot_state_publisher Average Delay: -0.499883 Max Delay: 0

All Broadcasters:
Node: /robot_state_publisher 51.2438 Hz, Average Delay: -0.499884 Max Delay: 0

I am not sure if this negative Average Delay values are due to some error or not. When adding a new frame from the odometry node which links to the robot_state_publisher base_link, the Average Delay outputs a more coherent value like 9.61504e-05.

Is everything running as expected or I have some bug on my setup?

Originally posted by joan on ROS Answers with karma: 245 on 2011-09-30

Post score: 1


1 Answer 1


Rosanswers logo

See the tf FAQ for the answer to this. This is normal behavior for certain nodes that timestamp data in the future.

Originally posted by Eric Perko with karma: 8406 on 2011-09-30

This answer was ACCEPTED on the original site

Post score: 3


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.