Closed BrettRD closed 3 years ago
LGTM. I look forward to trying this w/ real data early next week.
I ran a few quick tests, and it works as advertised. Looks good!
FYI there's a warning in unrelated code:
.../ros-gst-bridge/gst_bridge/src/rosimagesink.cpp:299:22: warning: ‘depth’ may be used uninitialized in this function [-Wmaybe-uninitialized]
This adds a
ros-start-time
element property to all elements Following https://github.com/BrettRD/ros-gst-bridge/issues/13, this allows a gstreamer prop to specify the ros2 time a stream's timestamps should start at.At the moment, it is only writable before stream start, and only via launch description. The
ros-start-time
element property should be readable at runtime viaSimplebin
automatic prop-param bindings. This readable value is the start time used to timestamp the running stream, and can be used to re-play a stream with approximately original time stamps.This does not offer compatibility with the
/clock
topic, and does not respectuse_sim_time
When rosbag stabilises, this feature might need to change significantlyAnother pull request should offer a ros clock server based on the pipeline time