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ros-drivers / ros2_ouster_drivers

ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars
https://ouster.com/
Apache License 2.0
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[feature request] Syncronization with camera #120

Closed adrian-soch closed 1 year ago

adrian-soch commented 1 year ago

I'm looking for the simplest solution to sync a ROS2 lidar node with a camera node. Both camera and lidar drivers are capable of running at 10Hz, however I want to ensure that they capture data at approximately the same time. The Ouster doc has a section on Multi-Sensor Synchronization.

There seems to be 2 options. Using the Phase lock feature, where the external source syncs both the camera and lidar. They say Phase locking is useful for synchronizing a sensor with other devices including camera but I'm not sure how to implement with the ROS2 driver setup. Another option is the lidar sends a pulse to trigger the camera.

Any insight to this problem would be appreciated.

SteveMacenski commented 1 year ago

You'd have to set that up on your sensor itself - follow the manual as provided.

adrian-soch commented 1 year ago

Decided to add a data processor for a camera image and just built a driver that combines the LiDAR and camera in one. It is the easiest solution for cameras without hardware triggers and if you are using a NIC without hardware timers.