Synchronizing Timestamps between the OAK Camera and Computer for Unified Data Acquisition

[Samaleke]

Synchronizing Timestamps between the OAK Camera and Computer for Unified Data Acquisition

[Serafadam]

It sound an issue that was reported and fixed in ROS Noetic a while ago, since there were no report for ROS2 I assumed that this wasn't an issue with ROS2, nevertheless the same mechanism has been added in ROS2 releases, you can try checking if enabling i_update_ros_base_time_on_ros_msg parameter for given nodes makes a change in this case.

[Serafadam]

Hi, could you record a rosbag containing lidar data and OAK camera data for comparison?

[BriceRenaudeau]

I got the same issue, it ended up with the navigation rejecting the camera info because the timestamp was too different or even in the future.

[Serafadam]

Hi @BriceRenaudeau, could you share more details? Is this something that's started happening recently?

[BriceRenaudeau]

It happened on the Iron 2.7.4 tag.
It happened after several hours of use (> 10h) and we have seen it only one time.
I will do some experiments and bags on the camera tomorrow but it will be nearly impossible to reproduce as the occurrence is very low.

[BriceRenaudeau]

Here is the graph of the time stamps of the left/right/stereo images without i_update_ros_base_time_on_ros_msg. There not sync.

[BriceRenaudeau]

Here is the time stamp graph comparison with /odom /laser_scan topics. And using the i_update_ros_base_time_on_ros_msg: true :