The synchroniser requires all timestamps to be the same across the messages. However, the current vectornav implementation calculates a different timestamp for each message type (CommonGroup, TimeGroup, etc).
This change calculates the timestamp once and uses it for all message types.
This has been tested with our VN-300 and Humble and allows synchronisation using message_filters::TimeSynchronizer.
dawonn
commented
1 year ago
This PR fixes a problem I ran into when trying to use
message_filters::TimeSynchronizerto synchronise multiple vectornav topics in client code. https://github.com/ros2/message_filters/blob/humble/include/message_filters/time_synchronizer.hThe synchroniser requires all timestamps to be the same across the messages. However, the current vectornav implementation calculates a different timestamp for each message type (CommonGroup, TimeGroup, etc).
This change calculates the timestamp once and uses it for all message types.
This has been tested with our VN-300 and Humble and allows synchronisation using
message_filters::TimeSynchronizer.