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增加功能包报错 #71
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你好。我在原代码基础上增加了一个领航-跟随功能包,出现了报错:
[ WARN] [1714033954.065190431, 14.425000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot2 at time 0.000000 according to authority unknown_publisher
发布代码:
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>
#include <nav_msgs/Odometry.h>
// std::string turtle_name;
std::string robot_name;
void poseCallback(const nav_msgs::Odometry::ConstPtr& msg)
{
// 创建tf的广播器
static tf::TransformBroadcaster br;
static tf::TransformBroadcaster br0;
static tf::TransformBroadcaster br1;
}
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "my_tf_broadcaster1");
};
订阅代码:
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
//#include "sensor_msgs/LaserScan.h"
void StepTargerVizableLoop(tf::TransformListener &listener1,tf::StampedTransform &transformf1)
{
}
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "my_tf_listener1");
};
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