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time_stamper

This project is currently in development

Timestamping

  • Clock frequency: 1 - 10'526'315 hz ~95 nanoseconds
  • Every 640 cycles a Timestamp is generated (64 * 10)
  • If clock is e.g. 10 hz, it takes 64s to generate a timestamp.

Packages

Package Installed on Description
kernel module Raspberry Pi CM4 Used for hardware timestamping. See kernel module
time_stamper_ros Raspberry Pi CM4 Used for led control and timestamp generation.
time_stamper_cv Host Used to detect real time led state with OpenCV.

Installation

Prerequisites

  • Host PC and Raspberry Pi Compute Module 4 with ROS installed.
  • Requires custom TimeStamper board with CM4 mounted.
  • ROS Camera driver
  • Works with ROS Melodic and newer

Raspberry Pi CM4 installation

  • Go to catkin workspace cd catkin_ws/src
  • Clone this repo with git clone https://github.com/ethz-asl/time_stamper
  • Setup, compile and start the kernel module
  • catkin build time_stamper_ros
  • Start ROS node with roslaunch time_stamper_ros time_stamper_default.launch
  • Optional: time_stamper_cv can be removed

Host installation

  • Go to catkin workspace cd catkin_ws/src
  • Clone this repo with git clone https://github.com/ethz-asl/time_stamper
  • Build with catkin build time_stamper_cv
  • Source ros env with source ~/catkin_ws/devel/setup.bash
  • Start ROS Node with roslaunch time_stamper_cv time_stamper_cv.launch
  • Optional: The kernel module and time_stamper_ros can be removed