Option to use wall-time in pose tree tf ROS topic

Omniverse Isaac Sim
1

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.

2

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.

3

@henry_z its not currently possible for /clock to publish wall-time, we will add an option to switch between the two.

4

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.

5

There is now a global switch to make all components publish via system time. Will be in upcoming release.