About the legged-odom timestamp

[zhengnx0906]

The original unitree_legged_msgs/HighState msg does not have timestamp information, how to synchronize the time of the data or how can i get the leggedodom timestamp?

[wsjpla]

The legged-odom msgs were not precisely time synchronized because the _unitree_leggedmsgs/HighState msgs provided by unitree_legged_msgs do not have header/timestamp.

If you want to use legged-odom's timestamps in robot state estimation, we recommond using the time when _unitree_leggedmsgs/HighState msgs were recorded in rosbag as timestamps or simply using the time when subscriber recieves the msgs after setting --clock when playing rosbag.