L515: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically

[alexart13]

I have L515 connected to my desktop with Ubuntu 20.04. Every time I start Realsense ROS node I get a message about HARDWARE_CLOCK:
[ INFO] [1634724771.144913009]: RealSense Node Is Up!
[ WARN] [1634724771.294350412]:
[ WARN] [1634724771.294478292]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.

What does it mean? Is it possible to solve it? How often the timestamps could reset?

To launch the node I use the following command: roslaunch realsense2_camera rs_camera.launch

[alexart13]

The timestamps seem to reset indeed periodically. I use realsense ROS node with rtabmap node. And in rtabmap logs after a few minutes from the start I noticed a message about timestamps:
[ WARN] [1634729045.501166339]: Odometry: Detected not valid consecutive stamps (previous=1634728996.176391s new=1634724749.179497s). New stamp should be always greater than previous stamp. This new data is ignored.

[alexart13]

The reason is that 'global_timestamp' is off by default (which is not the case for D4xx). I don't know why. It is confusing.
#1607 (comment)