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LORD-MicroStrain / microstrain_inertial

ROS driver for all of MicroStrain's current G and C series products. To learn more visit
https://www.microstrain.com/inertial
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How to configure device timestamping? #333

Open stephen-cpr opened 4 months ago

stephen-cpr commented 4 months ago

I'm using a GQ7 and would like the driver to output IMU data based on the internal (presumably GPS time sync'd) clock, not the ROS time when the packet was received. It looks like in the past there was a 'use_device_timestamp' parameter you could configure, but this has since been removed. Is there still a way to do this?

Aposhian commented 4 months ago

It seems like we should be able to add that parameter back, and just have that option be read in the updateHeaderTime method. The GPS timestamp is already being passed into that method, but just isn't being used.

hofbauerc commented 3 days ago

Are there any methods on how to use the "use_device_timestamp" parameter with the current version? It seems weird that this functionality has been removed.

robbiefish commented 2 days ago

I am working on re implementing this for the driver. This was removed when releasing 4.0.0 in order to update and improve the timestamping feature, but due to some other priorities never got added back. I will link to the PR once it is open

hofbauerc commented 2 days ago

Ok thanks for the reply.

So currently the timestamp is based on the system time of the PC am I right?