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microsoft / spot-ros-wrapper

ROS Wrapper for the Boston Dynamics Spot robot
MIT License
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[Bug] StampedTransform for odometry contains the wrong timestamp. #13

Open mklingen-bd opened 4 years ago

mklingen-bd commented 4 years ago

https://github.com/microsoft/spot-ros-wrapper/blob/7a22c6715de60d41b50d43e8e63a708c7e6b4bab/spot_ros_interface/scripts/spot_ros_interface.py#L513

The timestamp in the published StampedTransform for odometry contains Time.now, rather than the timestamp returned by the API. Depending on network latency, this may be delayed arbitrarily.