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A possible bug in tf or gazebo: I'm using the default pr2 gazebo simulator, and simulating base and tilting laser as well as the cameras.

When I look at the tf more closely, the time associated with this link is in the future by about a half second: /base_link --> /base_laser_link

... when compared to /clock itself and other tf links (e.g. to the tilting laser or the cameras)

Has anyone noticed tf publishing a link labelled in the future - specifically in gazebo simulation?

ROS Electric | Ubuntu 11.10

Originally posted by mfall on ROS Answers with karma: 1 on 2012-08-07

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The tf tree of the robot is not published by gazebo directly but by the robot_state_publisher node. Have a look at its wiki page. It explicitly states that all static transforms are future dated by 0.5 seconds. See here and here for an explanation of the reasons for future-dating transforms.

Originally posted by Lorenz with karma: 22731 on 2012-08-07

This answer was ACCEPTED on the original site

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