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ros-drivers / mocap_optitrack

ROS nodes for working with the NaturalPoint Optitrack motion capture setup
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Incorrect timestamp #64

Closed 321thijs123 closed 2 years ago

321thijs123 commented 2 years ago

The timestamp added to the published messages is the time of publishing, not the time optitrack determined the pose.

321thijs123 commented 2 years ago

I have been working on a fix, in this fork: https://github.com/321thijs123/mocap_optitrack I have not been able to test it yet.

321thijs123 commented 2 years ago

Fixed in merge commit https://github.com/ros-drivers/mocap_optitrack/commit/302cadf8fb06cce4a52adc0f9ea115e2168c7f92

ghoshsuman commented 2 months ago

Hi. I was wondering if this fix of using the optitrack time instead of ROS time at the host machine is also implemented in the master branch? I am basically looking for a solution to this in ROS Noetic. Thanks!

321thijs123 commented 2 months ago

Hi @ghoshsuman, It has not been implemented in the master branch. You could check out the changes made in 302cadf and implement the same in the ROS Noetic version. If you have any specific questions about the code feel free to ask!