不知道是啥,内容如下。


[ WARN] [1638169209.695937384, 391.085000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame right_wheel_link at time 391.056000 according to authority unknown_publisher
[ WARN] [1638169209.696244186, 391.085000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame left_wheel_link at time 391.056000 according to authority unknown_publisher
[ WARN] [1638169209.696305245, 391.085000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 391.056000 according to authority unknown_publisher
[ WARN] [1638169209.696357220, 391.085000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame right_wheel_link at time 391.056000 according to authority unknown_publisher
[ WARN] [1638169209.696400941, 391.085000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame left_wheel_link at time 391.056000 according to authority unknown_publisher
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 391.056000 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 right_wheel_link at time 391.056000 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 left_wheel_link at time 391.056000 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 base_footprint at time 391.056000 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 right_wheel_link at time 391.056000 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 left_wheel_link at time 391.056000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp


这里我截取了一段。另外执行roswtf检测的时候,内容如下。

Loaded plugin tf.tfwtf
No package or stack in the current directory
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take a while...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state
   * /cmd_vel

WARNING These nodes have died:
 * urdf_spawner-6


Found 2 error(s).

ERROR TF re-parenting contention:
 * reparenting of [left_wheel_link] to [base_link] by [/robot_state_publisher]
 * reparenting of [right_wheel_link] to [base_link] by [/robot_state_publisher]
 * reparenting of [right_wheel_link] to [base_footprint] by [/gazebo]
 * reparenting of [left_wheel_link] to [base_footprint] by [/gazebo]

ERROR TF multiple authority contention:
 * node [/robot_state_publisher] publishing transform [left_wheel_link] with parent [base_link] already published by node [/gazebo]
 * node [/robot_state_publisher] publishing transform [right_wheel_link] with parent [base_link] already published by node [/gazebo]
 * node [/gazebo] publishing transform [right_wheel_link] with parent [base_footprint] already published by node [/robot_state_publisher]
 * node [/gazebo] publishing transform [left_wheel_link] with parent [base_footprint] already published by node [/robot_state_publisher]


Ubuntu20.04 + Noetic的环境,感觉可能是python3的tf有问题,不知道有大佬解决没。

代码是古月老师的mbot,kinetic和melodic度没有问题。