启动rosbag出现警告TF_OLD_DATA ignoring data from the past for frame odom

<launch>
    <arg name = "rosbag_file" value = "/home/xx/xxx.bag"/>
	<!--machine name="local_alt" address="localhost" default="true" /-->
    <param name="/use_sim_time" value="true"/>	
    <node name="player" pkg="rosbag" type="play" args="--clock -r 1.0 $(arg rosbag_file)" cwd="node" required="true"/>	
    <node name="gmapping" pkg="gmapping" type="slam_gmapping"  output="screen" >
    <remap from="scan" to="/x/laserscan" />
    <remap from="odom" to="/x/odometry"/>
    <param name="base_frame" value="/x/base_link"/>
    <param name="odom_frame" value="/x/odom"/>
    <param name="maxUrange" value="16.0"/>
    </node>
    <node type="rviz" name="rviz" pkg="rviz"/>
</launch>

启动rosbag play用于试验gmapping算法

注意：/use_sim_time 设置为True

出现黄色警告：TF_OLD_DATA ignoring data from the past for frame odom

解决办法是 删除--clock后解决问题！

gmapping  参数 官方说明得知：http://wiki.ros.org/gmapping