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SBG-Systems / sbg_ros_driver

ROS 1 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.
https://www.sbg-systems.com
MIT License
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ROS publishing latency issue #79

Open CeeSBG opened 2 years ago

CeeSBG commented 2 years ago

A strange publishing behavior has been observed using the ROS driver. It appears that there is a publishing delay that occurs at a frequency of 1Hz, with the publishing occurring at a higher frequency just after to compensate. The ROS timestamps in the header seem to indicate that the data is being received and processed at the expected frequency, so it appear to just be an issue on the publishing side.

laxnpander commented 1 year ago

@CeeSBG Might be related: https://github.com/SBG-Systems/sbg_ros_driver/issues/83