TF_REPEATED_DATA ignoring data with redundant timestamp for frame tool0_controller at time xxxx according to authority ur_hardware_interface

[cambel]

Summary

We have a dual arm set up with two UR5e robots. Since migrating our system to ROS Noetic we experience a spam of warnings coming from ur_hardware_interface.

Versions

• ROS Driver version: noetic (1.15.14)
• Affected Robot Software Version(s): 5.10.0.106288
• Affected Robot Hardware Version(s):
• Robot Serial Number:
• UR+ product(s) installed:
• URCaps Software version(s): 1.0.5

Impact

We have a compliance controller streaming motion commands. The performance significantly decreases when the spam of warnings are printed.

Steps to Reproduce

Here is our launch file: https://github.com/o2ac/o2ac-ur/blob/noetic-devel/catkin_ws/src/o2ac_scene_description/launch/osx_arms_bringup.launch

Expected Behavior

No spam of warning messages.

Actual Behavior

The following is a sample of the messages that are spammed in the terminal.

[ WARN] [1668669563.967702653]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame tool0_controller at time 1668669563.965094 according to authority /a_bot/ur_hardware_interface
[ WARN] [1668669564.233413326]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame tool0_controller at time 1668669564.231068 according to authority /b_bot/ur_hardware_interface

In our case the namespace for the robots are a_bot and b_bot.

The spam of warning messages is not continuous but it occurs very frequently even when there is no command sent to the robots.

[gavanderhoorn]

This is https://github.com/ros/geometry2/issues/467.

Are the TF frames prefixed?

Could also be the broadcaster is actually publishing the same transform multiple times. If that's the case, that should be fixed.

[cambel]

Hi @gavanderhoorn

My bad, for lack of use of the tool0_controller, we didn't set up the parameter tf_prefix before. Adding a different tf_prefix to each robot seems to fix the problem.