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Turtlebot-Gazebo-Demo: Gazebo sends wrong timestamps.

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Hi all, I get some warnings when I start the turtlebot gazebo amcl demo. Here is the warning: Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1 according to authority /amcl Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained at line 260 in /tmp/binarydeb/ros-kinetic-tf2-0.5.13/src/buffer_core.cpp Here is what I use: - Ubuntu 16.04 LTS 64bit - ROS Kinetic - roslaunch turtlebot_gazebo turtlebot_world.launch - roslaunch turtlebot_gazebo amcl_demo.launch By debugging the problem with roswtf, rqt_tf_tree_view, rostopic echo, etc. , I now know that AMCL is publishing the following tf message **sometimes**: --- transforms: - header: seq: 0 stamp: secs: 1 nsecs: 0 frame_id: map child_frame_id: odom transform: translation: x: 0.0877543308947 y: -0.113482781495 z: 0.0 rotation: x: -0.0 y: -0.0 z: 0.276478026871 w: 0.961020239463 The rosparam use_sim_time is set to true. I am not so sure why this happens, or whether there is a bug in the amcl_demo.launch configuration, or even in amcl? Any help is welcome. :) **EDIT:** I further debugged it and traced the wrong time stamp back to gazebo. The gazebo_ros_openni_kinect plugin sends these timestamps. But I don't know why this is happening. Greetings, Stephan

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