TF_REPEATED_DATA ignoring data with redundant timestamp

[mrayh001]

Hi,

I am running the driver on Ubuntu 20.04 and ROS noetic.

spot_ros: 58ba355
spot_wrapper: d96bdbf41445215500fb6bc8e7ae278bb1957746

I see the spam on my terminal [ WARN] [1692223451.391583276]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_521 at time 1692223451.000484 according to authority unknown_publisher

and Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_521 at time 1692223520.812809 according to authority /spot/spot_ros

Is there any solution to this? Thanks

[heuristicus]

The solution requires code changes, likely maintaining a list of the published tfs and then ignoring those which have already been published, but I've not had a chance to do this yet.

[trangml-mit]

Is there any update on the fix to this? I'm not too sure where a list of published tfs could be kept to avoid this problem.

The constant print spam makes it pretty difficult to debug other messages.

[heuristicus]

I attempted a fix at

spot_ros/spot_driver/src/spot_driver/spot_ros.py

Lines 162 to 178 in 2a1d26d

	tf_msg = GetTFFromState(state, self.spot_wrapper, self.mode_parent_odom_tf)
	to_remove = []
	if len(tf_msg.transforms) > 0:
	for transform in tf_msg.transforms:
	for last_tf in self.last_tf_msg.transforms:
	if transform == last_tf:
	to_remove.append(transform)
	if to_remove:
	# Do it this way to preserve the original tf message received. If we store the message we have
	# destroyed then if there are two duplicates in a row we will not remove the second set.
	deduplicated_tf = copy.deepcopy(tf_msg)
	for repeat_tf in to_remove:
	deduplicated_tf.transforms.remove(repeat_tf)
	publish_tf = deduplicated_tf
	else:
	publish_tf = tf_msg

a while back, I suppose it's still missing some of the duplicates.

[trangml-mit]

Yeah, I realize now that it's actually having a problem due to any detected fiducials, so those may need special error handling. For now, my fix is just covering the fiducial.

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame fiducial_520 (parent vision) a
t time 1703005423.525936 according to authority /spot/spot_ros                                           
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp                          
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame filtered_fiducial_520 (parent 
vision) at time 1703005423.525936 according to authority /spot/spot_ros                                  
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp                          
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_520 (parent vision) at ti
me 1703005423.525936 according to authority /spot/spot_ros                                               
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp                          
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame dock_520 (parent vision) at ti
me 1703005423.525936 according to authority /spot/spot_ros                                               
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp