Received JointState is 1642497833.331841 seconds old

Hi, I am trying to publish joint state of the robot. My launch file is that simple (see picture 2). However it seems like something is wrong with the published time stamp. The pdf file contains results of “rosrun tf view_frames”.

frames.pdf (25.3 KB)

For anyone who has this issues, I figured out how to solve this problem. Instead of using robot_state_publisher to publish tf tree, one can use the Pose Tree from Isaac/ROS/Pose Tree to publish it. Besides, if in urdf file there are fixed joints, don’t tick “Merge Fixed Joints” when import it into the environment, otherwise Pose Tree would be failed to publish the merged/fixed link, that would cause visual errors in rviz

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