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Handle re-setting of simulation-time more gracefully #43
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Make transform_listener reset tf buffer on loop detection Fixes #43
+1 to getting this fixed. |
Hi, was this already fixed on indigo? Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1.49284e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 273 in /tmp/binarydeb/ros-indigo-tf2-0.5.15/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1.49284e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 273 in /tmp/binarydeb/ros-indigo-tf2-0.5.15/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1.49284e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 273 in /tmp/binarydeb/ros-indigo-tf2-0.5.15/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprint_wheel at time 1.49284e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 273 in /tmp/binarydeb/ros-indigo-tf2-0.5.15/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprint at time 1.49284e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 273 in /tmp/binarydeb/ros-indigo-tf2-0.5.15/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1.49284e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 273 in /tmp/binarydeb/ros-indigo-tf2-0.5.15/src/buffer_core.cpp rosversion tf2
0.5.15 CC: @tfoote |
I manually compiled entire cd /path/to/catkin_ws/src/
wstool set -u ros/geometry2 https://github.com/ros/geometry2 -v 0.5.15
catkin b geometry2
source ../devel/setup.bash |
I don't know of any differences re source vs binary. If you can provide a simple example I can try to reproduce. |
No to dig up an old issue, but I think I have an example that may help with this. From what I have found, it may be linked to not using a listener with the buffer. Currently running on Kinetic: My setup involves interfacing with a Issue seems to arise when trying to set a transform that is older than the buffers Example:
Adjusting either the rosbag duration to be less than the I have a feeling that this may be "intended behavior" if not using a tf2 listener, as perhaps the listener is the one that is managing clearing the cache. |
Yes that is expected behavior if you're just using a buffer it only expects time to progress forward, the linked commit above is specific to the listener. The buffer itself does not have any sense of time. When time jumps backwards the data must be cleared. using the geometry2/tf2_ros/src/transform_listener.cpp Lines 102 to 109 in acb62b8
|
Hello,
Accompanying these errors, the |
I'm not sure if this will assist too much @svenlr (or others), but for me, the issue was self-induced, as I was pushing my own data into the buffer manually in a timer function for visualization. The following code may help with your issues: My timer function that pushes in custom data (see |
Currently, buffer_core issues a warning when "old data" is published when a simulation clock source like gazebo gets re-set. In the context of simulation time, if the
/clock
topic also goes backwards in time, then this should be considered neither an error or a warning.What would be the right way to make buffer_core re-set when tf_ros detects a simulation time reset?
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