Currently, the /tf
topic only outputs elapsed time, which causes error like
[ WARN] [1615823058.321955994]: Costmap2DROS transform timeout. Current time: 1615823058.3219, global_pose stamp: 10.3690, tolerance: 0.3000
Is there any option to change this to use the wall-time i.e. the current realtime? Thanks.
Or at least is there a method to publish the timestamp as a /clock
topic so other ros nodes can be set to use_sim_time
? Currently the tf topic is published at a completely separate time than any other node, which makes the development quite difficult.
@henry_z its not currently possible for /clock to publish wall-time, we will add an option to switch between the two.
I’m having the same issue. I set clock node in Isaac to false (use wall time) but still the tf publishes in elapsed time.
There is now a global switch to make all components publish via system time. Will be in upcoming release.