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Publish messages using frame timestamp - #105
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Conversion ratio seems off to me, alternative conversion suggested inline
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Main remark was about the missing CMake change, everything else is nitpicky and opinionated so maybe maintainers here would have a different opinion
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After some thinking, this may need some more work to respect the clock from rcl, e.g. initializing the sensor time with that of the node's clock, like that which is done for the ROS1 realsence driver. |
This was referenced Feb 5, 2020
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By convention, ROS drivers attempt to preserve timestamps from the sensor. This implements that by transparently setting the message timestamp wrt. the set timestamp domain selected by the SDK.
https://github.com/IntelRealSense/librealsense/blob/9f99fa9a509555f85bffc15ce27531aaa6db6f7e/include/librealsense2/hpp/rs_frame.hpp#L467
Related: #84