mpa_to_ros publish stereo left and right image in different timestamp

[Dong Liu]

Here is the code,

imgL.header.stamp = (_clock_monotonic_to_ros_time(meta.timestamp_ns));
imgL.width    = meta.width;
imgL.height   = meta.height;
imgL.step     = meta.width;
imgL.encoding = GetRosFormat(meta.format);

imgR.header.stamp = (_clock_monotonic_to_ros_time(meta.timestamp_ns));
imgR.width    = meta.width;
imgR.height   = meta.height;
imgR.step     = meta.width;
imgR.encoding = GetRosFormat(meta.format);

They are all from meta.timestamp_ns, but _clock_monotonic_to_ros is using the current time, so the final times are slight different.

I think it should be
imgR.header.stamp = imgL.header.stamp

[Chad Sweet]

Thanks for the suggestion! We are happy to incorporate our partners merge requests if you want to make one on gitlab!

[Dong Liu]

will do soon.

[Dong Liu]

MR submitted.

[Dong Liu]

Just tried to calibrated the stereo camera using ROS camera calibrator. Had to run the fixed voxl-mpa-to-ros. Because the ROS calibrator expects left and right to be exactly synchronized.