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fkie / multimaster_fkie

ROS stack with FKIE packages for multi-robot (discovering, synchronizing and management GUI)
BSD 3-Clause "New" or "Revised" License
272 stars 106 forks source link

issue about tf update #177

Closed hsx479 closed 1 year ago

hsx479 commented 2 years ago

Hello, when I use multimaster_fkie to run multi roscores on two computers and use rviz , there is some problem about the tf: Transform[sender=unknown_publisher] For frame [base_scan]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 1655363434.854527810 but the latest data is at time 1655363416.292566976, when looking up transform from frame [base_scan] to frame [map]]` And the " requested time" is constantly updated. This problem does not arise if I just use one computer and don't use multimaster_fkie. Is there anything in multimaster_fkie may cause this problem?

atiderko commented 2 years ago

Sorry for the late reply! The time of the two hosts is not in sync. You need to use an NPT client, e.g. chrony, and sync the time.