I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I get an error that the message is to old. I am able to se the image for this camera in rviz ( I really don't know why I do not get the same error in rviz with this topic because it's time stamp is not correct either) If I do a rostopich echo of the /scan topic created from this depth image I see that the time stamp is different from the other topics such as the /map topic which, as normally, I use as static frame. All the rostopic echo I do from the topics of the camera simulated in Gazebo have a different time stamp than the rest.
For the /scan created from this kinect I have a static transformation, after remapping the output frame topic of depth image_to_laserscan to /camera_depth
< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >
The view_frames tree seems correct, using tf_monitor everything looks is being publish with the proper freq. So the problem must be this difference in the time stamp.
I think is a problem with the Gazebo Simulation that somehow is not creating the messages with the time stamp it supposed to.
Anyone can help me with this issue?
Thank u!