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ros-drivers / urg_node

ROS wrapper for the Hokuyo urg_c library.
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add option to synchronize system clock to hardware time #41

Closed c-andy-martin closed 6 years ago

c-andy-martin commented 6 years ago

Remove jitter from the system clock by synchronizing it to the change in hardware time stamps. This does not synchrnoize it in an absolute sense (i.e., doesn't remove system latench). However, coupled with calibrating system latency, this results in a stable, accurate clock.

tonybaltovski commented 6 years ago

@c-andy-martin thanks for this. Can you fix the formatting so roslint passes?

c-andy-martin commented 6 years ago

I have cleaned it up. I also made the synchronize_time passed by value around the constructors and init functions. I realized the other booleans were being modified, I had been just trying to emulate what had been done. But this boolean doesn't need to be modified, so I switched to passing by value.

c-andy-martin commented 6 years ago

@tonybaltovski, I have cleaned up the lint issues and pushed, however, CI failed in rosdep, no idea how my changes could cause that.

tonybaltovski commented 6 years ago

@c-andy-martin thanks for cleaning it up. All the CI test pass minus the lunar ones since urg_c has not been released. I just released it.