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neufieldrobotics / spinnaker_sdk_camera_driver

Point Grey (FLIR) Spinnaker based camera driver (Blackfly S etc.)
MIT License
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will fix rate issues when in external trigger #132

Closed mithundiddi closed 3 years ago

mithundiddi commented 3 years ago

tested on mono rig and stereo rig on both arm64 and amd64

vik748 commented 3 years ago

@mithunvarma What exactly is the issue this is fixing?

mithundiddi commented 3 years ago

@mithunvarma What exactly is the issue this is fixing?

In external trigger mode[param external_trigger is true] , the run_soft_trigg method does ros sleep if SOFT_RATECTRL flag is set. this flag is set by default. This delays the acquisition rate, if soft_fps is set to a low value than ext trigger rate.

SOFT_RATECTRL is set, if soft_fps is set to any value >0 (some default value in launch file)

In this fix, we will set SOFT_RATECTRL only if external_trigger is false. the soft_frame_rate initialized as 20, so ros rate won't be affected.