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

Omniverse Isaac Sim
1

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.

2

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.

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