timestamp issue 3d ouster points

[PetropoulakisPanagiotis]

This is the ouster message:

header:
  stamp:
    sec: 637
    nanosec: 296000000
  frame_id: os_sensor
height: 32
width: 1024
fields:
- name: x
  offset: 0
  datatype: 7
  count: 1
- name: y
  offset: 4
  datatype: 7
  count: 1
- name: z
  offset: 8
  datatype: 7
  count: 1
- name: intensity
  offset: 16
  datatype: 7
  count: 1
- name: ring
  offset: 24
  datatype: 4
  count: 1
is_bigendian: false
point_step: 32
row_step: 32768
data:
- 0
- 0
- 128
- 127

I get: RCLCPP_WARN_ONCE(rclcpp::get_logger("kinematic_icp_ros"),
"Field 't', 'timestamp', 'time', or 'stamps' does not exist. "
"Disabling scan deskewing"); in my terminal

Any fix?

[PetropoulakisPanagiotis]

I have another issue:

    const auto delta =
        LookupDeltaTransform(base_frame_, begin_odom_query, base_frame_, end_odom_query,
                             wheel_odom_frame_, tf_timeout_, tf2_buffer_);

My ouster outputs points every 12hz (ros2 topic hz /a200_1044/sensors/ouster_lidar/scan/points)

But when I print begin_odom_query and end_odom_query, the difference is on average 1 second (Which does not make sense). And then I have this error:

[kinematic_icp_online_node-23] [WARN] [1745567424.514612100] [LookupTransform(Delta)]: Could not find a connection between 'base_link' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.

Check here:

        std::cout << target_time.nanoseconds() << " " << source_time.nanoseconds() << " " << timeout.nanoseconds() << std::endl; 
        std::cout <<  target_frame << source_frame << fixed_frame << std::endl;
        auto tf = tf2_buffer->lookupTransform(target_frame, target_time, source_frame, source_time,
                                              fixed_frame, timeout);

[kinematic_icp_online_node-23] 572748000000 573870000000 1100000000
[kinematic_icp_online_node-23] base_linkbase_linkodom
[kinematic_icp_online_node-23] 

Just for debugging, I increased the timeout, but no difference.

Maybe the issue is how you handle the type of messages? And this is why I have the first warning? Maybe If the first warning is fixed, the second one is related

RCLCPP_WARN_ONCE(rclcpp::get_logger("kinematic_icp_ros"),
"Field 't', 'timestamp', 'time', or 'stamps' does not exist. "
"Disabling scan deskewing"); in my terminal

The transforms work perfectly fine from my side using: ros2 run tf2_ros tf2_echo odom base_link --ros-args -r /tf:=/a200_1044/tf -r /tf_static:=/a200_1044/tf_static

In addition, I run a SLAM node, which reads correctly my odom, lidar inputs.

Thank you in advance.

Note: my ouster data are from ignition gazebo ros2