LGSVL TimeStamp Issue
Description
The timestamp of message from LGSVL Simulator seems to be different from ROS clock. There are about 2.7 seconds delay in LGSVL simulator messages compared to ROS clock. If I see the actual movement in the simulator and the change in topic values, I don't recognize such significant delay. I am assuming that clock used in LGSVL simulator and ROS2 system is different.
How to Reproduce
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Checkout
output-timestamp
branch from https://gitlab.com/mitsudome-r/AutowareAuto and comile. This adds a code snippet to lgsvl_interface.cpp to output time difference between current time and odometry topic sent from lgsvl. -
Launch LGSVL simulator
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Run
ros2 launch autoware_auto_avp_demo ms2.launch.py
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You see time difference in seconds
[lgsvl_interface_exe-5] [ERROR] [vehicle.lgsvl_interface]: current - message: 2.061386
Current Behavior
There are significant time difference in LGSVL simulator and other ROS2 nodes which is assumed to be coming from using different time source.
Expected behavior
LGSVL Simulator and ROS2 nodes use same time source.