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Fix timestamp bug and record bug in ros

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This commit is contained in:
kalman 2018-12-12 20:22:39 +08:00
parent 515bcb5f8a
commit 486e9d459d
2 changed files with 36 additions and 3 deletions
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32
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -156,5 +156,37 @@
</node> </node>
<!-- disable compressed depth plugin for image topics -->
<group ns="$(arg left_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_norm_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
</group> <!-- mynteye --> </group> <!-- mynteye -->
</launch> </launch>

7
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -322,9 +322,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
api_->EnableStreamData(Stream::POINTS); api_->EnableStreamData(Stream::POINTS);
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::POINTS, [this](const api::StreamData &data) { Stream::POINTS, [this](const api::StreamData &data) {
ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
static std::size_t count = 0; static std::size_t count = 0;
++count; ++count;
publishPoints(data, count, ros::Time::now()); publishPoints(data, count, stamp);
}); });
is_published_[Stream::POINTS] = true; is_published_[Stream::POINTS] = true;
} }
@ -341,10 +342,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
api_->EnableStreamData(stream); api_->EnableStreamData(stream);
api_->SetStreamCallback( api_->SetStreamCallback(
stream, [this, stream](const api::StreamData &data) { stream, [this, stream](const api::StreamData &data) {
// data.img is null, not hard timestamp ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
static std::size_t count = 0; static std::size_t count = 0;
++count; ++count;
publishCamera(stream, data, count, ros::Time::now()); publishCamera(stream, data, count, stamp);
}); });
is_published_[stream] = true; is_published_[stream] = true;
} }