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BrettRD / ros-gst-bridge

a bidirectional ros to gstreamer bridge and utilities for dynamic pipelines
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Allow rosbasesrc to add latency to incoming packets #24

Open BrettRD opened 3 years ago

BrettRD commented 3 years ago

Some live pipelines drop packets if the Presentation Time Stamp PTS cannot be rendered on time. This is fixed by ensuring rosbasesrc receives the message before the timestamp in the message (similar to RVIZ dropping expired joint state messages)

This is occasionally inconvenient when the timestamp in a message represents a capture time. rosbasesrc can be extended with a latency property that adds a fixed delay when converting header timestamp to PTS.

BrettRD commented 2 years ago

rosbasesrc should emit warnings if it is translating a timestamp to a PTS in the past.