So, I ran into this issue while working with multi-robot simulation. I am using the cloned_multi_tb3_simulation_launch.py from the nav2 package, which launches a separate bridge for each instance of the tb3 robot that you spawn. As a result, the /clock topic is bridged multiple times. This leads to the following issues:
Detected jump back in time. Clearing TF buffer.
Message Filter dropping message: frame 'base_scan' at time 7.600 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Expected behavior:
There's no mismatch in the messages published.
Actual behavior:
Leads to some conflict. I've verified this by essentially omitting the /clock topic from being bridged for each robot instance and instead have a separate bridge for it.
Steps to reproduce
Launch the cloned_multi_tb3_simulation_launch.py file.
Environment
binary
Description
So, I ran into this issue while working with multi-robot simulation. I am using the
cloned_multi_tb3_simulation_launch.py
from the nav2 package, which launches a separate bridge for each instance of the tb3 robot that you spawn. As a result, the/clock
topic is bridged multiple times. This leads to the following issues:Detected jump back in time. Clearing TF buffer.
Message Filter dropping message: frame 'base_scan' at time 7.600 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
/clock
topic from being bridged for each robot instance and instead have a separate bridge for it.Steps to reproduce
cloned_multi_tb3_simulation_launch.py
file.