Check timestamps of TF frames published by the world model in simulation

[matthias-mayr]

When running the Gazebo simulation of the WARA robotics, the robot TF frames are published in simulation time like in ROS 1, so a number in the several hundreds.

However frames that came from the world model were shown to be published in Linux time (about 1709320098) in rqt_tf_tree. This usually means that the transformations can not be resolved due to the time mismatch.

I already checked that skiros:TfTimestamp was not set in the world model. Maybe one needs to pay attention to what clock to use in tf2 in ROS 2.