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Hello guys,
I am using rosbridge in my project and it would be great if the bridge could set the timestamps in messages passed through it as simple json messages. Is that supported somehow?
Cheers, J.B.
In the current SVN (experimental version of rosbridge):
svn co http://brown-ros-pkg.googlecode.com/svn/trunk/experimental/rosbridge
I have added a feature so that if you send a header (or an object containing a header) with an empty stamp field, it will be replaced with the current rostime. In other words:
con.publish('/heads','std_msgs/Header',{seq:42,frame_id:'foo',stamp:{}})
results in something like:
seq: 43
stamp:
secs: 1332141768
nsecs: 325777053
frame_id: foo
Keep in mind that this is purely for cases where you don't need a very accurate timestamp. The proper thing to do is still to synchronize the client and ROS runtime's clocks.
If for some reason you don't want to run the SVN version of rosbridge, you can also use this patch until the binary version is updated (after more time and testing).
Thank you so much! That will things easier for me. In my setup I have only one hard wired link between the sender and the bridge such that I don't anticipate much delay there and thus not afraid setting the stamp only at the bridge which will deliver decent enough accuracy.
Nevertheless I will keep your suggestion in mind in case there is something odd happening and whenever the setup will become more complex I will immediately switch to setting the stamp at the source.
Thanks again! Cheers
Asked: 2012-03-16 00:37:14 -0500
Seen: 1,374 times
Last updated: Mar 19 '12
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