[ros-users] [Discourse.ros.org] [General] Timestamps and rosbags: discussing an alternative to clock and use_sim_time

Bence Magyar ros.discourse at gmail.com
Fri Nov 24 10:15:04 UTC 2017

I think for a good portion of the use-cases this doesn't come up as
typically you wouldn't have more than 15-25 transforms in TF.

With more complex robots (humanoids, quadrupeds, etc) there's a significant
increase and that's where TF starts to fail. I'm not sure that problem is
with rosbag though...
I once thought of implementing an alternative way to capture the robot part
of TF by grabbing the urdf and joint states and let the
robot_state_publisher do it's job on the go. Never really got around to do

I can't really recall a case when it wasn't TF failing. Could you bring an
example of something else failing with rosbag time?

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