# BlueRov2 mavros RTT too high for timesync warning **URL:** \ **Category:** General Discussion\ **Tags:** ardusub\ **Created:** [July 18, 2025, 4:49pm UTC](https://discuss.bluerobotics.com/t/bluerov2-mavros-rtt-too-high-for-timesync-warning/21021 "2025-07-18T16:49:06Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![Aknawby](https://avatars.discourse-cdn.com/v4/letter/a/5daacb/32.png) [@Aknawby](https://discuss.bluerobotics.com/u/Aknawby)\ **Post date:** [July 18, 2025, 4:49pm UTC](https://discuss.bluerobotics.com/t/bluerov2-mavros-rtt-too-high-for-timesync-warning/21021/1 "2025-07-18T16:49:06Z")
Hey everyone, I’m attempting to record the mavlink data from my blue rov2 using ros bags in ros2 jazzy. I have the mavlink/mavros package running for the most part however I get tons of time sync warnings “[ros2-5] [mavros\_node-1] [WARN] [1752855894.453059996] [mavros.time]: TM: RTT too high for timesync: 14.58 ms.” I tried following the ardupilot solution " If the `RTT too high for timesync` message is shown in the Mavros console (most commonly when using ArduRover), the [SCHED\_LOOP\_RATE](https://ardupilot.org/sub/docs/parameters.html#sched-loop-rate) parameter should be increased. This is because Mavros ignores TIMESYNC messages if the round trip time is more than 10ms." I tried everything from 50 - 400Hz in blueOS to no avail. I also saw that setting timesync\_rate to 0 will disable it, although I’m worried about possible side effects. I mainly need the IMU data which I will sink with sonar images for mapping. I’ve also notices most of the topics never publish any data, which I thought was strange Any suggestions are greatly appreciated. -Adam ---
**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\ **Post date:** [July 21, 2025, 1:39pm UTC](https://discuss.bluerobotics.com/t/bluerov2-mavros-rtt-too-high-for-timesync-warning/21021/2 "2025-07-21T13:39:19Z")
Hi @Aknawby, From what we know these messages are not important. > > > This is only bug and feature tracker, please use it > to report bugs or request f…eatures. > > \---- > > \### Issue details > Hi. I am trying to build a simple simulation using ROS Noetic, MAVROS and ArduPilot for fixed wing UAVs. I am trying to send messages for example velocity, acceleration change, using mavros topics but i dont give any reactions from simulation. I think the error RTT to high for timesync is related to this problem because i can send messages using ROS services perfectly. How to solve this problem and connect simulation normally. > > Thanks a lot. > > > \### MAVROS version and platform > > Mavros: Latest version for ROS Noetic > ROS: Noetic > Ubuntu: 20.04 > > > \### Autopilot type and version > > \[x\] ArduPilot > \[\] PX4 > > Version: 4.0.4 > > > \### Node logs > > \`\`\` > attached all log files to end of the text > \`\`\` > > \### Diagnostics > > \`\`\` > header: > seq: 56 > stamp: > secs: 1675944633 > nsecs: 779404227 > frame\_id: '' > status: > - > level: 0 > name: "mavros: FCU connection" > message: "connected" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Received packets:" > value: "6304" > - > key: "Dropped packets:" > value: "0" > - > key: "Buffer overruns:" > value: "0" > - > key: "Parse errors:" > value: "0" > - > key: "Rx sequence number:" > value: "46" > - > key: "Tx sequence number:" > value: "0" > - > key: "Rx total bytes:" > value: "217040" > - > key: "Tx total bytes:" > value: "21133" > - > key: "Rx speed:" > value: "4001.000000" > - > key: "Tx speed:" > value: "320.000000" > - > level: 0 > name: "mavros: GPS" > message: "3D fix" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Satellites visible" > value: "10" > - > key: "Fix type" > value: "6" > - > key: "EPH (m)" > value: "1.21" > - > key: "EPV (m)" > value: "2.00" > - > level: 1 > name: "mavros: Mount" > message: "Can not diagnose in this targeting mode" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Mode" > value: "255" > - > level: 0 > name: "mavros: Heartbeat" > message: "Normal" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Heartbeats since startup" > value: "63" > - > key: "Frequency (Hz)" > value: "1.039967" > - > key: "Vehicle type" > value: "Fixed wing aircraft" > - > key: "Autopilot type" > value: "ArduPilot" > - > key: "Mode" > value: "MANUAL" > - > key: "System status" > value: "Standby" > - > level: 0 > name: "mavros: System" > message: "Normal" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Sensor present" > value: "0x1361FC3F" > - > key: "Sensor enabled" > value: "0x1261803F" > - > key: "Sensor health" > value: "0x1371803F" > - > key: "3D gyro" > value: "Ok" > - > key: "3D accelerometer" > value: "Ok" > - > key: "3D magnetometer" > value: "Ok" > - > key: "absolute pressure" > value: "Ok" > - > key: "differential pressure" > value: "Ok" > - > key: "GPS" > value: "Ok" > - > key: "motor outputs / control" > value: "Ok" > - > key: "rc receiver" > value: "Ok" > - > key: "AHRS subsystem health" > value: "Ok" > - > key: "Terrain subsystem health" > value: "Ok" > - > key: "Battery" > value: "Ok" > - > key: "pre-arm check status. Always healthy when armed" > value: "Ok" > - > key: "CPU Load (%)" > value: "0.0" > - > key: "Drop rate (%)" > value: "0.0" > - > key: "Errors comm" > value: "0" > - > key: "Errors count #1" > value: "0" > - > key: "Errors count #2" > value: "0" > - > key: "Errors count #3" > value: "0" > - > key: "Errors count #4" > value: "0" > - > level: 0 > name: "mavros: Battery" > message: "Normal" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Voltage" > value: "12.59" > - > key: "Current" > value: "-0.0" > - > key: "Remaining" > value: "100.0" > - > level: 0 > name: "mavros: Time Sync" > message: "Normal" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Timesyncs since startup" > value: "630" > - > key: "Frequency (Hz)" > value: "9.999619" > - > key: "Last RTT (ms)" > value: "8.225267" > - > key: "Mean RTT (ms)" > value: "13.983896" > - > key: "Last remote time (s)" > value: "72.252012000" > - > key: "Estimated time offset (s)" > value: "1675944561.517242908" > - > level: 0 > name: "mavros: APM Memory" > message: "Normal" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Free memory (B)" > value: "131072" > - > key: "Heap top" > value: "0x0000" > - > level: 2 > name: "mavros: APM Hardware" > message: "Not initialised" > hardware\_id: "udp://127.0.0.1:14551@14555" > values: > - > key: "Core voltage" > value: "-1.000000" > - > key: "I2C errors" > value: "0" > \--- > > \`\`\` > > \### Check ID > > \`\`\` > OK. I got messages from 1:1. > > \--- > Received 1829 messages, from 1 addresses > sys:comp list of messages > 1:1 0, 1, 129, 2, 136, 137, 11020, 147, 11030, 22, 152, 24, 27, 29, 30, 32, 33, 163, 36, 164, 168, 42, 49, 178, 65, 193, 73, 74, 111, 241, 242, 116, 125 > > \`\`\` > > !\[RTT\](https://user-images.githubusercontent.com/71216579/217808941-0ba3bfe8-887d-4487-a6b3-9e37f4bb6eb5.png) > > \[logs.zip\](https://github.com/mavlink/mavros/files/10696950/logs.zip) > **[Search results for 'rtt too high for timesync' - ArduPilot Discourse](https://discuss.ardupilot.org/search?q=rtt%20too%20high%20for%20timesync)** > > ArduPilot Discussion Server