This repository has been archived by the owner on Jan 7, 2023. It is now read-only.
Publish messages using frame timestamp #105
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
mikaelarguedas
suggested changes
Jan 24, 2020
ruffsl
force-pushed
the
frame_timestamp
branch
3 times, most recently
from
c7c16fe
to
628c5ac
Compare
ruffsl
force-pushed
the
frame_timestamp
branch
from
628c5ac
to
5e5d0fb
Compare
|
After some thinking, this may need some more work to respect the clock from rcl, e.g. initializing the sensor time with that of the node's clock, like that which is done for the ROS1 realsence driver. |
This was referenced Feb 5, 2020
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
By convention, ROS drivers attempt to preserve timestamps from the sensor. This implements that by transparently setting the message timestamp wrt. the set timestamp domain selected by the SDK.
https://github.com/IntelRealSense/librealsense/blob/9f99fa9a509555f85bffc15ce27531aaa6db6f7e/include/librealsense2/hpp/rs_frame.hpp#L467
Related: #84