在回放Bag数据的时候,出现警告信息:Warning: TF_OLD_DATA ignoring data from the past for frame stm32_imu at time 1.6203e+09 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
解决方案
rosparam set /use_sim_time true
然后在播放数据包的时候用--clock