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ros-planning / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
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Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame odom_comb at time 23.567000 according to authority unknown_publisher #1260

Open Daviesss opened 7 months ago

Daviesss commented 7 months ago

This pull request addresses issue https://github.com/ros-planning/navigation/issues/1125

I solved this problem by making a small tweak to the amcl_node.cpp file. In order to decrease the frequency of TF_REPEATED_DATA warnings, I lowered the publishing rate of the laser scan because amcl relies on the rate of incoming laser messages. I made this adjustment directly in the .cpp node, and it worked perfectly for me. As a result, the redundant messages no longer appear, which is fantastic.

Daviesss commented 7 months ago

I get you . But in my case ,the trigger warning message when the laser scan has been received within the specified interval, then the opposite condition would be when the time duration d since the last laser scan received is less than the laser_checkinterval. I think the condition should be :

if (d < laser_checkinterval) { ROS_WARN("Laser scan received within the specified interval of %f seconds.", d.toSec()); }

else { ROS_WARN("No Laser scan received within the specified interval of %f seconds.", d.toSec()); }

With this condition, the warning message will be triggered when the time duration since the last laser scan received is less than the laser_checkinterval, indicating that a laser scan has been received within the expected interval.