Cone detection offset

[Taintedy]

Hey, guys
I ran into a problem when getting cone coordinates from a topic. After visualizing received coordinates I get an offset.

The problem occurs only when the car is moving.
How can I reduce this offset?
Thank you.

[Francisco-Carvalho98]

Are you using ros::Time::Now() to fill in the header.stamp of those markers? If so, you shouldn't. You need to propagate the stamp that comes from the topic the simulator provides.