Revision history [back]

Hi,

Thanks for sharing your experience. I used CameraSubscriber to subscribe both raw_image and camera_info. CameraSubscriber uses MessageFilters and TimeSynchronizer (according to http://www.ros.org/wiki/message_filters) and has been designed for synchronizing raw_image and camera_info.

message_filters::Subscriber<image> image_sub(nh, "image", 1); message_filters::Subscriber<camerainfo> info_sub(nh, "camera_info", 1); TimeSynchronizer<image, camerainfo=""> sync(image_sub, info_sub, 10); sync.registerCallback(boost::bind(&callback, _1, _2)); I guess I could used code segment above directly with the ability to adjust synchronization parameters. What sychronization policy did you use?

I also checked the code in pgr_camera_driver. It used CameraPublisher to "simultanously" publish both topics. When using wired connection, both topics subscribed by my program show the same time-stamp. So the problem doesn't seem to be on publisher side.

Thanks,