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I will first describe what I understood - please correct me if I am wrong.
You have a controlled manipulator (so you have a source for its state) and a RGB-D camera info (so a second source of messages). You want to store pairs of (a manipulator state, a cloud point message)
.
I think you can maybe use message_filters
package to do this task:
http://wiki.ros.org/message_filters
http://docs.ros.org/en/lunar/api/message_filters/html/python/
Without using computer time, but with a timestamp in the header of the last manipulator pose, synchronized with point cloud data.
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If it's not the case:
Maybe you can use other source of time for the manipulator? Please check these: