How to reset ROS2 TF timestamp to 0 when simulation is replayed?

[ajong]

I have a ROS2 TF publisher in my Isaac scene.

When I check the TFs from ros2 topic echo /tf, it seems the timestamp doesn’t reset when I replay my simulation. Rather, it continues from the previous timestamp. How can I make sure the timestamp resets to 0? Thanks.

[ajong]

I found out how to fix it. The omnigraph node “Isaac Read Simulation Time” has a toggle for whether to reset the timestamp when the simulation replays.