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heuristicus / spot_ros

ROS driver for controlling Boston Dynamics' Spot robot
https://heuristicus.github.io/spot_ros/
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TF_REPEATED_DATA ignoring data with redundant timestamp #142

Open mrayh001 opened 10 months ago

mrayh001 commented 10 months ago

Hi,

I am running the driver on Ubuntu 20.04 and ROS noetic.

spot_ros: 58ba355a7938f2b2d9bd062638e3efc9484f2e96 spot_wrapper: d96bdbf41445215500fb6bc8e7ae278bb1957746

I see the spam on my terminal [ WARN] [1692223451.391583276]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_521 at time 1692223451.000484 according to authority unknown_publisher

and Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_521 at time 1692223520.812809 according to authority /spot/spot_ros

Is there any solution to this? Thanks

heuristicus commented 10 months ago

The solution requires code changes, likely maintaining a list of the published tfs and then ignoring those which have already been published, but I've not had a chance to do this yet.

trangml-mit commented 7 months ago

Is there any update on the fix to this? I'm not too sure where a list of published tfs could be kept to avoid this problem.

The constant print spam makes it pretty difficult to debug other messages.

heuristicus commented 7 months ago

I attempted a fix at https://github.com/heuristicus/spot_ros/blob/2a1d26da976a6376b21b5af9ce5328899fb7a8c4/spot_driver/src/spot_driver/spot_ros.py#L162-L178 a while back, I suppose it's still missing some of the duplicates.

trangml-mit commented 6 months ago

Yeah, I realize now that it's actually having a problem due to any detected fiducials, so those may need special error handling. For now, my fix is just covering the fiducial.


Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame fiducial_520 (parent vision) a
t time 1703005423.525936 according to authority /spot/spot_ros                                           
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp                          
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame filtered_fiducial_520 (parent 
vision) at time 1703005423.525936 according to authority /spot/spot_ros                                  
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp                          
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_520 (parent vision) at ti
me 1703005423.525936 according to authority /spot/spot_ros                                               
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp                          
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_520 (parent vision) at ti
me 1703005423.525936 according to authority /spot/spot_ros                                               
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp