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ubi-agni / tactile_toolbox

software to handle tactile sensors in ROS
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[rviz_tactile_plugin] contacts stored forever, show wrong display on clock loop #9

Closed guihomework closed 3 years ago

guihomework commented 3 years ago

In the case of playing bag files with clock publishing and loop option, the clock jumps back in time, making the stored contacts at the end of the loop appear at the start of the loop even if there is no new data yet for those contacts.

Even worse. If there is no data published at all on contact_states in the second loop, (see video and terminal showing no data published) the simple fact that the clock loops shows past data the re-become valid for a while.

see video remaining_arrows_loop.mp4.zip

A solution could be to clear the contact buffer if a jumbpack in time is detected.

rhaschke commented 3 years ago

I guess this requires sim_time to be configured? @guihomework, could you please provide (via email) a rosbag file to reproduce this (and test a fixup)?

guihomework commented 3 years ago

I tried to do so, but the bagfiles I have have to many data to clearly see the problem, I will need to create a fake one with several rostopic echo in a row, while keeping a /tf up to data too. stay tunes