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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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[PERFORMANCE] RGBD ROS noetic synchronize #559

Open abegni opened 4 months ago

abegni commented 4 months ago

Hi, i would like to know if there is a easy way to synchronize the output of stereo and rgb camera in ROS noetic in RGBD pipeline. This option seems not to be present in ROS parameters (https://docs.luxonis.com/software/ros/depthai-ros/driver/). i_fsync_continuous and i_fsync_trigger are used to synchronize the frames by an external trigger. I also read this example (https://docs.luxonis.com/software/depthai/examples/depth_video_sync/) where DepthAI Sync node is used in order to synchronize rgb and stereo output but in ROS param is not present any sync pipeline. Any other options? Thank you for your support.

Serafadam commented 4 months ago

Hi, in-driver sync for those outputs is on the roadmap, although for now it is hard to give an estimate for when it will be available. You can use ROS message_filters package to sync multiple topics based on their timestamps, similarly to how some of the nodes in depthai_filters work. You could also create a custom pipeline to add sync node that would connect to those two sources with a custom callback that would publish them.