Open jeremyroy opened 4 years ago
This issue might be related to issue #32. Our observed non-synchronicity could also be caused by the parser dropping ARHS packets.
You may want to switch to this fork: https://github.com/LORD-MicroStrain/ROS-MSCL
It actively maintained by the developer and the time synchronization seems to work well. I created a pull request (that was just merged) that publishes the GPS correlation timestamp as a ROS message so you can check the PPS status and time synchronization.
-Kris
Problem
The timestamp in the IMU ROS message being published from this node is invalid and non-synchronous. After some investigation, we realized that the issue is originating from how the timestamp is being generated. When a new ARHS packet is received from the GX5 IMU (in our case the GX5-25), the node isn't parsing the "GPS Correlation Timestamp" message, which includes a timestamp generated internally by the GX5. Instead, the node is using ROS::Time::now(), whose accuracy is subject to the time at which the operating system wakes up the node after a new MIPS packet becomes available.
Action items