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plugin: add synchronisation to most plugins #186
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I'll definitely run some tests. Will get back to you after. |
You can simply merge the branch, and add two printf/Throttled print to one
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Looks good, but testing required. |
Hi,
does is to set the timestamp on the message published by ros to the ros time at which the IMU (or other sensor) was captured as opposed to ros::Time::now(). Given that there is a finite delay in transmitting the data from PixHawk to host computer, I'd assume the header.stamp to always lag ros::Time::now(). This is what confused me a bit, because you said:
Hope you could shed some light on this. Thanks |
The lag would be low in any case. The current wall time would be very close to the synchronised stamp anyway. (lagging by estimator time + link latency) As I said, they should be close to each other, not the same. |
It's fine with me if you can find a better way to test it :) |
@dinuka You can plot the IMU in rqt_plot and move the system around.
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@mhkabir I will do those testing as soon as I get some time. Bit stuck with a few other things this week |
@mhkabir will do ASAP. |
Allow compiling on Visual Studio 2012 and earlier.
This allows timesync between a PX4 FCU and mavros to be used in most plugins : #185
This is untested, so don't merge yet.
I don't have time for this ATM, so testers welcome. @thedinuka, interested?