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    You requested a transform that is 1117.125 seconds in the past的解决方法

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    • weijiz
      weijiz last edited by

      在利用rosbag播放录制的数据时,经常会看到tf变换相关的节点报出错误,比如 You requested a transform that is 1117.125 seconds in the past. 这是由于bag里面的消息的时间戳都是录制的时候的,而程序默认是使用当前时间的。所以需要设置使用bag内的时间。

      • 把rosparam use_sim_time 设置为 true
      • 启动对应的 .launch 文件
      • 播放bag文件,注意播放的时候一定要加上–clock选项
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