The clock used for a bag recorded via the bridge is wrong

[EmmanuelMess]

The messages of a bag recorded via the bridge are recorded as sent at the computer time, not at the /clock time, which might be simulated.

Look at the time at the bottom, and the time of the clock:

[TommyChangUMD]

Interesting. It looks like an issue with the ROS 1 bridge code. I’d recommend submitting it to the ROS 1 bridge project. From what I can tell, the code is pretty tough to follow—unfortunately, it uses way too many C++ templates.

[TommyChangUMD]

Have you tried the --use-sim-time argument to ros2 bag record?

https://github.com/ros2/rosbag2?tab=readme-ov-file#simulation-time

[EmmanuelMess]

Have you tried the --use-sim-time argument to ros2 bag record?

ros2/rosbag2#simulation-time

The initial bag recording is done in ros2 with --use-sim-time, then it is converted with this tool into ros1, that conversion has the issue.

Sorry for the delay, just now getting back into the part of the project that had this issue.

[EmmanuelMess]

I am using:

ros2 bag play /input/bag --clock --rate 0.5 --wait-for-all-acked 1000 --read-ahead-queue-size 5000

And

cd /output
rosbag record --buffsize=1024 --all