Gazebo and RVIZ not working together

[KyleQ1]

Currently, RVIZ and Gazebo don't work well together leading to this error in RVIZ: Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained at line 292 in ./src/buffer_core.cpp Warning: TF_OLD_DATA ignoring data from the past for frame right_thigh at time 338.504000 according to authority default_authority

Here is the node topic diagram.

Potential issues and solutions:

• Simulated time being off between Gazebo and RVIZ. Gazebo and RVIZ launch with simulated time.

• Joint state and joint state manager in RVIZ interfering with gazebo_ros_joint_state_publisher Turning joint states off in RVIZ using the GUI flag doesn't seem to change anything.

[KyleQ1]

Using real-time instead of sim time fixes the issues. Rviz is still not being updated with the joint states from Gazebo even though the gazebo joint state node shows its publishing to Rviz.

[KyleQ1]

https://imgur.com/a/7fyCOQr Node graph of sim time versus non-sim time. It seems rviz2 doesn't use the clock when using sim time but does when it's using real-time.