Image topic and Camera_info unsynchronized #17

jbosch opened this Issue Oct 17, 2012 · 3 comments


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jbosch commented Oct 17, 2012

Hi all,

The messages of the Image and Camera info are not synchronized and that can cause problems to people working with that images...
My suggestion is this little modification in ardrone_driver.cpp (line 452):

    sensor_msgs::Image image_msg;        
    sensor_msgs::Image::_data_type::iterator _it;

    // Image and info msg need the same time stamp.
    ros::Time camera_time = ros::Time::now();

    image_msg.header.stamp = camera_time;
    cinfo_msg_hori.header.stamp = camera_time;
    cinfo_msg_vert.header.stamp = camera_time;

    if (cam_state == ZAP_CHANNEL_HORI)

Thank you,

Josep Bosch
Ocean System Lab
Heriot-Watt University


Thank you for the patch, however this issue has been mentioned in #13 and #14. Necessary changes (similar to your patch) to fix that has been committed in acc441e .

Are you using the latest code?

jbosch commented Oct 18, 2012

You are totally right. After a git pull the modifications where there.



You are welcome.

@mani-monaj mani-monaj closed this Oct 18, 2012
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