search

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
75 stars 43 forks source link

Synchronization of the SBG unit #84

Open yulan0215 opened 1 year ago

yulan0215 commented 1 year ago

Hi:

I am sorry that I have a question for the synchronization of the SBG unit ROS msg.

The is the time_ reference and synchronization instruction: image

However, I did not get it, if I set the:

Time reference:

time_reference: "ins_unix"

Then all the header time from SBG unit will use UTC time? Is it correct? However, I have alreay set like the aboved-mentioned but it seems to be that the header time is still come from ROS environment.

Do you have any idea about the synchronization? Thx

benmakka commented 11 months ago

Hello @yulan0215, if you want to change any setting using ROS, you'll need to enable the "configWithRos" parameter in the same file to enable configuration changes through ROS. Can you confirm whether it's already set to "true" on your end?