Request: PPS signal provides a header timestamp

Issue #16 resolved
btshrewsbury NA
created an issue

We are having some synchronization issues between Atlas, ROS, and the Multisense-SL. Publishing a ros timestamp coinciding with the PPS clock as a header timestamp when using network-time-sync would help fix the issue and shouldn't impact current use of the PPS signal.

Comments (3)

  1. Matt Alvarado

    Hello,

    The most recent MultiSense ROS driver 3.3.1 includes a custom StampedPps message which contains both the original PPS message published on the /multisense/pps topic as well as the network-time-sync associated with that PPS message. The new message is published on the topic /multisense/stamped_pps in parallel with the original PPS message.

    Please let me know if there was a different solution you had in mind.

    Thanks, Matt Alvarado Engineer Carnegie Robotics

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