Correct timestamps - Githubissues

ros-drivers / mocap_optitrack

ROS nodes for working with the NaturalPoint Optitrack motion capture setup

99 stars 139 forks source link

Correct timestamps #65

Closed 321thijs123 closed 2 years ago

321thijs123 commented 2 years ago

I changed the node to take the timestamp from the OptiTrack system instead of the timestamp at which the pose was received in ROS.

Performance with these changes

The offset between the optitrack clock and ros clock is estimated.
Time accuracy is less than the lowest ping since the program is running.
Time between timestamps is now correct.

Performance before these changes

Optitrack clock is not used.
Time accuracy is dependend on current ping.
Time between timestamps may fluctuate dramatically depending on network speed.

321thijs123 commented 2 years ago

This pull request can be linked to this issue: https://github.com/ros-drivers/mocap_optitrack/issues/64

tonybaltovski commented 2 years ago

Thanks!