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ROBOTIS-GIT / turtlebot3_simulations

Simulations for TurtleBot3
http://turtlebot3.robotis.com/
Apache License 2.0
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TF_OLD_DATA ignoring data from the past for frame wheel_right_link #153

Closed nedo99 closed 3 years ago

nedo99 commented 3 years ago

Hello,

I started to experience an issue: Warning: TF_OLD_DATA ignoring data from the past for frame wheel_right_link at time 614.244000 according to authority Authority undetectable It was not happening before. I tested it on two different hosts with Ubuntu 20.04 and ROS Foxy and it happens on both.

I tried with debian packages:

ros-foxy-turtlebot3-msgs (2.2.1-1focal.20210225.212449) ...
ros-foxy-turtlebot3-node (2.1.1-1focal.20210225.225211) ...
ros-foxy-turtlebot3-fake-node (2.2.2-1focal.20210225.225412) ...
ros-foxy-turtlebot3-example (2.1.1-1focal.20210225.220403) ...
ros-foxy-turtlebot3-bringup (2.1.1-1focal.20210226.004341) ...
ros-foxy-turtlebot3 (2.1.1-1focal.20210226.005303) ...
ros-foxy-turtlebot3-gazebo (2.2.2-1focal.20210226.005328) ...
ros-foxy-turtlebot3-simulations (2.2.2-1focal.20210226.010127) ...

and I also tried the latest foxy-devel with these steps:

sudo apt remove ros-foxy-turtlebot3 ros-foxy-turtlebot3-msgs ros-foxy-turtlebot3-simulations
cd ~/turtlebot3_ws/src/
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/turtlebot3_ws
colcon build --symlink-install
source ~/turtlebot3_ws/install/setup.bash

but the same result. Of course, I tried sending an empty message to /reset_time.

Steps to reproduce: In terminal A run: TURTLEBOT3_MODEL=waffle ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py and in terminal B run: ros2 launch slam_toolbox online_async_launch.py (I also tried with other SLAM algorithms like RTABMAP, but it is the same) and you will see in terminal B warning message mentioned in the topic.

It is missing transforms from base and wheels to map as you can see in the screenshot. rviz2_timestamp

You can find frames.pdf attached. frames.pdf

Any hints?

Regards, Nedim

nedo99 commented 3 years ago

Again, my issue. In my subnet there was another host running ros node and since I did not have explicit ROS_DOMAIN_ID in my host it was getting the topics. This article helped https://docs.ros.org/en/foxy/Tutorials/Configuring-ROS2-Environment.html.