search

ros-drivers / camera1394

ROS driver for devices supporting the IEEE 1394 Digital Camera (IIDC) protocol.
http://www.ros.org/wiki/camera1394
17 stars 35 forks source link

Timestamp problem with Point Grey Flea3 USB3 camera #35

Open Lenskiy opened 10 years ago

Lenskiy commented 10 years ago

Look at the output of this command rostopic echo /flea3_stereo/right/image_raw | grep secs

    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000
    secs: 36
    nsecs: 858272000

The timestamps do not change. I am going to dig into this. Any help is appreciated. Maybe it is something to do with this bug https://code.ros.org/trac/ros-pkg/ticket/4841

Lenskiy commented 10 years ago

Adding the parameter use_ros_time: true allows to avoid the problem. The timestamps start to change. I believe the problem is related to USB section of the dc1394 library.

jack-oquin commented 10 years ago

I will be away for the next few days.

Your use_ros_time work-around is a good idea, and might be the best we can do at the driver level. I think it was originally introduced because of similar problems with other devices.

Perhaps the driver could detect that situation and set the parameter automatically.

chadrockey commented 10 years ago

@Lenskiy you might want to try https://github.com/ros-drivers/pointgrey_camera_driver to see if its a driver issue or something else.

Lenskiy commented 10 years ago

@chadrockey thanks a lot! This is a great package, somehow I missed it until now. Which place is more appropriate to ask questions about this package? I have troubles connecting two flea3 cameras at the same time.

jack-oquin commented 10 years ago

@Lenskiy: is this still a problem for you, or have you switched to using the Point Grey driver?

Lenskiy commented 10 years ago

I tried the Point Grey driver, but something did not work out for me. Do not remember exactly but I believe I could run of\r setup cameras as stereo rig. I am using camera1394 package since that time, did not change anything. I might try again the the Point Grey driver later this month.