-
Notifications
You must be signed in to change notification settings - Fork 43
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Turtlebot4 Navigation Example Error "frame 'rplidar_link' at time 1709940493.141 for reason 'the timestamp on the message is earlier than all the data in the transform cache'" #378
Comments
Hello @Christian-Prather, Are using an internet enable network for the Raspberry Pi to be able to sync it's time? Is your computer connected to the same network and syncing its time using the network? Would it be possible to try and use timesyncd to sync the time between the Raspberry Pi and your computer (https://ubuntu.com/server/docs/use-timedatectl-and-timesyncd). Looking forward to hearing from you soon. |
Hello @smatarCPR |
Its also worth noting that since I saw no improvement with cyclone I rolled back to default fast_dds |
I have a similar timestamp issue. Using the 1.0.4 version ros-humble-turtlebot4-navigation package. |
I am also having an issue similar to this. I get the same error that the lidar message time is earlier than all the data in the transform cache. |
Additional update I have changed over the system and my laptop to use the discovery server and while the topics seem to show up more reliably on my laptop the same error reported occurs when running the example localization node. |
Since this seems to be a hot topic right now I am going to try and drop a bunch of general information here that I am hoping will be helpful to a number of you. If you are running simulation then stop here, none of the below applies and your issue is likely on how you are launching the nodes (sim time vs real time). If you are using a physical robot then continue: Both the Raspberry Pi and the Create3 drive base will sync their time with the internet by default. So there are a few different configurations and what could be causing your issues:
A final note: If you look at what node and what topic are shown in the error then that will point you towards which devices are out of sync. For example, if you are running navigation on your laptop and that is where you are seeing the error pop up (the amcl node is part of the nav packages) then that tells you that your laptop is one of the pieces that is not in sync. Then you can look at the topic that it is not in sync with, and which device published that topic. In the case of the lidar, it is published by the Raspberry Pi. So as much as it is good to make sure that the create3 is in sync, that is not causing the particular issue being presented. This behaviour should not change based on which DDS you select or which version of packages that you run. If you want to understand this concept better I would encourage you to look up NTP. Nothing about how the time is getting synced is ROS 2 specific, it is all built on existing packages and protocols. ROS just happens to care if the messages are out of sync. |
Hello, |
Robot Model
Turtlebot4 Standard
ROS distro
Humble
Networking Configuration
Simple Discovery
OS
Ubuntu 22.04
Built from source or installed?
Installed
Package version
Package: ros-humble-turtlebot4-navigation
Status: install ok installed
Priority: optional
Section: misc
Installed-Size: 2470
Maintainer: rkreinin rkreinin@clearpathrobotics.com
Architecture: amd64
Version: 1.0.4-1jammy.20240217.111144
Depends: ros-humble-nav2-bringup, ros-humble-nav2-simple-commander, ros-humble-slam-toolbox, ros-humble-ros-workspace
Description: Turtlebot4 Navigation
Type of issue
Navigation (SLAM, Nav2 etc.)
Expected behaviour
The navigation tutorial to produce a map with lidar scan points overlay and a functional navigation path.
Actual behaviour
When following the navigation tutorial https://turtlebot.github.io/turtlebot4-user-manual/tutorials/navigation.html the first command that is ask you to run
ros2 launch turtlebot4_navigation localization.launch.py map:=office.yaml
runs but produced the following error that seems to be causing failure in subsequent steps.Error:
[amcl-2] [INFO] [1709940494.277377550] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1709940493.141 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Error messages
To Reproduce
ros2 launch turtlebot4_navigation localization.launch.py map:=office.yaml
Other notes
I have looked and this seems to be a common error in recent months. I attempted all solutions recommended which include updating the turtlebot and my system, moving to cyclonedds, and attempting to sync the Create3 NTP server.
Any help would be appreciated as this is a complete blocker and renders our turtlebot useless.
The text was updated successfully, but these errors were encountered: