stamp offset between board and PC

ros-drivers / rosserial

A ROS client library for small, embedded devices, such as Arduino. See: http://wiki.ros.org/rosserial

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stamp offset between board and PC #392

Open tongtybj opened 6 years ago

tongtybj commented 6 years ago

I found some time the current msg has older timestamp (ros::Time) than a previous msg.

So I doublt the validity of following implementation: https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_client/src/ros_lib/ros/node_handle.h#L382-L387

The time offset is a round-trip duration, which start from board, to PC, and back to board. In fact, it is hard to precisely calculate either one-way time lost.
Or, Moving Average Filtering is a better option

skohlbr commented 5 years ago

ETHZ's fork of rosserial features a proper-time-sync branch. I haven't tested it, but it might be something worth looking at.