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when ever i start my navigation stack i get this error

    Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_left_wheel at time 618.268000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_right_wheel at time 618.268000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ WARN] [1620280861.746819185, 618.270000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_left_wheel at time 618.268000 according to authority unknown_publisher
[ WARN] [1620280861.747013021, 618.270000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame link_right_wheel at time 618.268000 according to authority unknown_publisher

Originally posted by harish556 on ROS Answers with karma: 74 on 2021-05-06

Post score: 5

Original comments

Comment by sgarciav on 2021-05-22:
Have you been able to track down why you are getting this warning message?

Comment by Kaveh_ROS on 2022-09-15:
Any solution?

2 Answers2

1

In my case, this error was caused by robot_state_publisher (default rate: 50 Hz) publishing at a higher rate than joint_state_publisher (default rate: 10 Hz). So basically the robot_state_publisher was publishing 5 times every joint state with the same time stamp.

The solution was to specify a frequency for both nodes manually in the launch file:

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
    <param name="publish_frequency" value="10"/>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    <param name="rate" value="10"/>
</node>
GlacialShade
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The warning message is due to a change in transform-handling behavior. In short, it used to be the case that a redundant transform (one with the same timestamp and frame_ids as a previously received transform) would be added to the transform cache alongside the original one. This was apparently not intended behavior, and as of noetic redundant transforms are ignored and a warning is printed (see this issue for more details). You are definitely not the only one to encounter this, as evidenced by this discussion. It's up to you whether to try to hunt down the source of the redundant transforms in your setup and fix it or to just ignore the warnings.

Originally posted by cyberguy42 with karma: 188 on 2021-11-12

This answer was ACCEPTED on the original site

Post score: 8