TF_REPEATED_DATA warnings

[FHof]

Problem description

When I execute roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch in a Docker Container with the Rosbridge and ROS noetic installed, many TF_REPEATED_DATA warnings appear. Here are the output messages: example_ego_out.txt Can I safely ignore these warnings?

Additional information

Rosbridge version: 959039ad9d84d167fe9ef79e69da4a6cfaa3adef CARLA version: 0.9.10

[anavc97]

Had this exact same issue, which I suspect resulted in some errors running pygame windows (such as manual_control.py). I switched from CARLA version 0.9.10 to CARLA 0.9.9 and the warning (and errors) were fixed

[FHof]

The image in the pygame window looks correct for me.

[anavc97]

The image in the pygame window looks correct for me.

The warnings are back but the issues I had were fixed when I switched to CARLA 0.9.9

[Esquilli]

FYI: The issue has to do with this.

[joel-mb]

@FHof @Esquilli @anavc97 Could you please test if the issue is still happening with the latest master. Please, take into account that the master branch is targeting CARLA 0.9.11

[anavc97]

@joel-mb I assume you'd want us to test this with the ros-bridge version of 0.9.10. Unfortunately I can't seem to make it work with 0.9.11 in my desktop, so I can't test it. However, aren't those warnings harmless anyway?

[joel-mb]

Hi @anavc97, sorry for the delay. I missed your message. The update has been introduced in master so you should test it with that branch. Which problem were you facing with 0.9.11? Right now, master is targeting CARLA 0.9.11 so hopefully your problem has disappear now.

On the other hand, I'm still seeing the warning after the updates. It seems that this is only happening for CARLA event sensors (i.e., DVS Camera sensor, Collision sensor and Lane Invasion sensor). I suspect CARLA is sending multiple measurements in the same tick for that sensors under some situations and therefore the ROS bridge is publishing TF data with repeated timestamps. I don't think this is affecting to the simulation as this was already happening with melodic (these warning were added in noetic as stated by @Esquilli).

I will leave this issue open until a good solution for these warnings is found.

[anavc97]

Hi @anavc97, sorry for the delay. I missed your message. The update has been introduced in master so you should test it with that branch. Which problem were you facing with 0.9.11? Right now, master is targeting CARLA 0.9.11 so hopefully your problem has disappear now.

On the other hand, I'm still seeing the warning after the updates. It seems that this is only happening for CARLA event sensors (i.e., DVS Camera sensor, Collision sensor and Lane Invasion sensor). I suspect CARLA is sending multiple measurements in the same tick for that sensors under some situations and therefore the ROS bridge is publishing TF data with repeated timestamps. I don't think this is affecting to the simulation as this was already happening with melodic (these warning were added in noetic as stated by @Esquilli).

I will leave this issue open until a good solution for these warnings is found.

@joel-mb thank you for your reply. I can't remember the exact problem with CARLA version 0.9.11, I think it had something to do with a package called "ainstein radar", which was not being recognized in Noetic, but I'm not sure what the error was. I might open a new issue for that, but it doesn't look like it is related to the ros bridge.

Regarding the warning, I've upgraded to carla-ros-bridge 0.9.11 and have been running carla_ros_bridge_with_example_ego_vehicle.launch but I've not been seeing the warnings, although I did disable a lot of sensors, the DVS included. (I'm running ROS Noetic with Ubuntu 20 and Python3). Hope this helps.