minor adjustments: use ROS_INFO(), and publish timestamped messages

dusty-nv / ros_deep_learning

Deep learning inference nodes for ROS / ROS2 with support for NVIDIA Jetson and TensorRT

887 stars 258 forks source link

minor adjustments: use ROS_INFO(), and publish timestamped messages #42

Open ZeppLu opened 4 years ago

ZeppLu commented 4 years ago

Some adjustments I personally consider helpful, but don't know whether they fit everyone, so feel free to reject this PR.

In my case, pros of timestamped message:

you can measure latency with rostopic delay <topic>
if image and detection message is published separately, you can match them up by looking into their timestamps

dusty-nv commented 4 years ago

Thanks @ZeppLu, I am currently refactoring the nodes to add support for ROS2 (in addition to retaining support for ROS1). I will merge these changes into ros2 branch, which will then be merged back into master relatively soon.