timing problem with laser scan (synchronizing with odometry)
Hi guys,
I've got a timing problem with my laser scans. I receive laser scan data through a tcp socket (it's simulated laser data from another system in the network). While the robot is standing still everything is fine. But as soon as it moves/turns, the laser scan gets biased depending on how fast the robot is moving/turning. It looks like the scans are stamped wrong in relation to odometry/tf.
At the moment I stamp all my sensor data with the time stamp of the moment they arrive in the node. I suppose there is some kind of offset due to the time some of my data needs to get through ROS.
So, how can I synchronize my nodes to get rid of the speed depending bias?
Thank you!
Cheers, Hendrik