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astuff / avt_vimba_camera

ROS1/2 Driver for AVT cameras using VIMBA SDK.
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Driver stamps images with ROS time rather than camera time #26

Closed cparedis closed 3 years ago

cparedis commented 4 years ago

The frameCallback method stamps new images with rost_time = ros::Time::now(); We are synchronizing the clocks of all our cameras using PTP and it would therefore be of interest to stamp the images with the timestamp provided by the camera, which can be easily accessed as ((double)vimba_frame_ptr->GetTimeStamp())/((double)freq)

Seems like it could be a small fix to add a ROS parameter that would allow the user to select which clock to use (with the default being the ros_time for compatibility).

icolwell-as commented 3 years ago

I agree, sounds like a great idea!

GarethZhang commented 2 years ago

Hi @cparedis,

Our team is also trying to set up PTP with Vimba cameras. After setting the PtpMode=Slave attribute in VimbaViewer and starting the PTP service, PtpStatus in VimbaViewer is stuck at PtpStatus=Listening as opposed to PtpStatus=Slave. Did you have a similar problem when working with PTP?

We are using host computer as master clock, without an external GNSS timing source, and want to set up Vimba cameras as slaves.

Thank you! Any suggestions are appreciated!

icolwell-as commented 2 years ago

Hi @GarethZhang, I added a small section to the README regarding PTP sync: https://github.com/astuff/avt_vimba_camera#clock-synchronization In case you hadn't noticed it. I was able to test PTP operation successfully when I tested some of the recent features added to this driver. There could be a couple reasons the camera isn't using the computer as a master (network issues, time source not accurate enough, etc.). What software are you using for the computer-based PTP master clock?

cparedis commented 2 years ago

Haowei: We did have a problem with PTP sync’ing that may be related. We were using a Timemachines TM2000B as a master clock and could not get the cameras to sync. After looking at the network traffic using wireshark, we found that by default the TM2000B was sending 128 sync messages per second. The cameras (Allied Vision Mako G319-C) was expecting such sync messages at 1 per second. When we reconfigured the master to broadcast sync messages at that frequency, everything worked fine. I hope this helps.

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From: Haowei Zhang @.> Sent: Monday, January 31, 2022 12:43 PM To: astuff/avt_vimba_camera @.> Cc: Chris Paredis @.>; Mention @.> Subject: Re: [astuff/avt_vimba_camera] Driver stamps images with ROS time rather than camera time (#26)

Hi @cparedishttps://github.com/cparedis,

Our team is also trying to set up PTP with Vimba cameras. After setting the PtpMode=Slave attribute in VimbaViewer and starting the PTP service, PtpStatus in VimbaViewer is stuck at PtpStatus=Listening as opposed to PtpStatus=Slave. Did you have a similar problem when working with PTP?

We are using host computer as master clock, without an external GNSS timing source, and want to set up Vimba cameras as slaves.

Thank you! Any suggestions are appreciated!

— Reply to this email directly, view it on GitHubhttps://github.com/astuff/avt_vimba_camera/issues/26#issuecomment-1026039679, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA4CSHEQGGXFONRYYG67H7TUY3CZ5ANCNFSM4UGSOG3Q. Triage notifications on the go with GitHub Mobile for iOShttps://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Androidhttps://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub. You are receiving this because you were mentioned.Message ID: @.**@.>>

GarethZhang commented 2 years ago

Hi @cparedis ,

Thank you for the response!

I've located that the issue was the Ethernet switch we were using. It somehow doesn't work properly with PTP. I'll keep an eye on this issue you mentioned when I engage the GNSS time source into the PTP in the near future.

Best, Haowei