Costmaps header stamps are set to 0

[charlielito]

Bug report

/local_costmap/costmap or /global_costmap/costmap topics header stamps are set to 0. Is this somehow intentional?

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Galactic binaries
• Version or commit hash:
  • Galactic binaries 1.0.8-1focal.20220211
• DDS implementation:
  • Cyclone

Steps to reproduce issue

Launch the nav2 stack as usual then see /local_costmap/costmap or /global_costmap/costmap topics header and note that they are set to 0.

Expected behavior

Header stamps consistent with system time

Actual behavior

Header stamps set to 0

Additional information

I see that the header stamp is set here to

  grid_->header.stamp = rclcpp::Time();

which AFAIK is the reason it is set to 0.

[SteveMacenski]

I don't think it is intentional to be 0, please submit a PR to implement with the real time!

[charlielito]

Done #2899

[Jos-Meran]

Hi there, I have the same problem in ROS2 Foxy. Saw what you did to fix it (from grid_->header.stamp = rclcpp::Time(); to grid_->header.stamp = clock_->now();), but I can't seem to find the file (costmap_2d_publisher.cpp) where the header stamp is defined. I don't know much about this stuff, but is this something that I can't do locally and has to be fixed directly in the foxy-devel branch of the nav2 package? If so, how could I push this change?

[SteveMacenski]

Foxy is EOL and has not receive updates for some time

[Jos-Meran]

Oh, so should I install the package from source and use the main branch?