[ WARN] [1657462827.907037520, 140.746000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame left_wheel at time 140.726000 according to authority unknown_publisher
[ WARN] [1657462827.907093593, 140.746000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame right_wheel at time 140.726000 according to authority unknown_publisher
[ WARN] [1657462827.907845999, 140.746000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame left_wheel at time 140.746000 according to authority unknown_publisher
[ WARN] [1657462827.907878461, 140.746000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame right_wheel at time 140.746000 according to authority unknown_publisher
在rviz中查看tf坐标,可以看到左右轮的坐标一直在base_link和base_footprint之间跳来跳去
这是因为/robot_state_publisher发布了左右轮到base_link的tf变换,但是/gazebo又发布了左右轮到base_footprint的tf变换,导致了二者的冲突。
解决办法:将gazebo_control中的publishWheelTF和publishWheelJointState均设置为false就可以解决掉这个问题