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Enabling full realtime video and navdata #44

merged 4 commits into from Nov 29, 2012


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mikehamer commented Nov 28, 2012

This branch is a further extension of the functionality in #43. In this branch I have enabled realtime publishing of /ardrone/navdata,mag,imu topics as well. Furthermore, this branch allows realtime publishing of video frames. The branch also includes speed improvements for the navdata pipeline. I haven't considered speed of the video pipeline as I have no idea what it's doing (I never use video), and it is fairly slow (30Hz) anyway.

However, making the changes in the above branch has indicated that the current architecture doesn't really fit the future direction of the driver, so perhaps we need to consider a few architectural changes so that making realtime stuff work isn't such a hack...

I suggest we continue this discussion in #42.

mikehamer added some commits Nov 28, 2012

Saving time of navdata reception
Before, we were stamping the /ardrone/navdata,mag,imu messages with the time that they were processed in the main ros loop. This caused unnecessary delays in the timestamp. Now we save the time of navdata reception in the navdata handling loop, which is then used to stamp the output messages when processed by the loop.
Added fullspeed_video
Will now publish video frames as soon as received if fullspeed_video=true.  Unfortunately to do this we needed to do a few dirty hacks, implying that our architecture is no longer so suitable for the future direction of the driver. We need to talk about an architectural redesign perhaps...
fullspeed_navdata now affects publishing of /ardrone/navdata,imu,mag …
…topics as well.

This update also includes a few speed improvements for the case where fullspeed_navdata==true.
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