[ROS2] tf publisher stamp

[routiful]

I have tried to make map using Cartographer but I found that the time is different between two nodes.

I ran a tf2_echo to show that the tf is working well. Left terminal shows tf2_echo between map frame and odom frame. Right terminal shows tf2_echo between odom frame and base_footprint.
You can find that the time has quite different.

Because Cartographer using chrono or ROS time however the diff_drive in ROS2 package publishes odometry tf with gazebo common time.

gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_diff_drive.cpp

Line 492 in 73a12b7

msg.header.stamp = gazebo_ros::Convert<builtin_interfaces::msg::Time>(_current_time);

How can I sync this two nodes?

[chapulina]

You need to make sure that:

• You launch Gazebo with the gazebo_ros_init plugin
• Set use_sim_time on your Cartographer nodes

See the migration guide here.

[chapulina]

Let me know if that works for you and then we can close this issue.

[routiful]

Great! It works :)