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Image, Camera Info timestamp mismatch - AR.Drone 2.0 #13
Attempting to use the ROS package image_proc on the '/ardrone/front/image_raw' or '/ardrone/bottom/image_raw' steams fails to produce any corrected streams when used with the AR.Drone 2.0
The image_proc publishes the corrected streams, but gives an error indicating mismatched timestamps between images and the corresponding camera info when the stream is viewed.
The problem appears to occur due to lines 452-454 in ardrone_driver.cpp:
This doesn't guarantee the timestamps are matched as ros::Time::now() can change between calls.
The code was changed to:
This ensures timestamps are matched. The change appears to resolve the issue and image_proc is is able to correctly produce streams.
Whether or not this is also an issue for the original AR.Drone has not been tested.