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You can use the approximate time syncronization policy, which mostly gets the right data bundle. Depth image and point cloud should have the exact same time stamp, the rgb image shouldn't be off more than 1/30 sec. I have recently introduced a filter that checks for time offsets in rgbdslam, and does get triggered every now and then.

Btw, better loop with while(ros::ok()){ ... } instead of while(true). If your node gets killed, your program will stop.