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microsoft / azure_spatial_anchors_ros

ROS wrapper for the Azure Spatial Anchors Linux SDK, allowing robots (and other devices with vision-based sensors) to co-localize with other robots, AR-enabled phones, and Hololens devices.
https://azure.microsoft.com/en-us/services/spatial-anchors/
MIT License
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Add an optional feature to enable an approximate time synchronization #11

Closed EricVoll closed 3 years ago

EricVoll commented 3 years ago

This PR adds an optional feature to use a time synchronization between the image and camera_info topics using an approximate synchronization policy from message_filters/sync_policies/approximate_time, which solved the issue #10

Two optional ros-launch parameters were added. The default configuration does not use the new feature and runs the node as it did before.

Param name default value description
subscriber_que_size 1 An integer representing the que length of the image and camera_info subscriber
use_approx_sync_policy false A flag that indicates whether or not to activate the approximate time synchronization policy
jeffdelmerico commented 3 years ago

I would rename the parameter subscriber_que_size to subscriber_queue_size to be consistent with ROS terminology.

But otherwise LGTM.

EricVoll commented 3 years ago

Thanks, I fixed the spelling.