How to synchronize data from four IMUS?

asked 2017-07-26 14:22:13 -0600

I have been playing around with the razor_imu_9dof package and I manage to connect four razor IMUS sensors by doing some minor modifications in the imu_node.py in order to write the streamed data from the sensors using razor-pub-four-imus.launch.

Well, well, I am wondering how can I synchronize the data from the four sensors. For the time being, the data is streamed and saved in files using the razor-pub-four-imus.launch. I have read that is possible to use the message filters package to use a Time_Synchronizer to create timestamps that contains their headers, and outputs of the nodes. However, it is not too obvious for me the implementation for this case. I would therefore appreciate if you have recommendations, general instructions, or if you have done or seen similar queries where I can get some inspiration and make the synchronize of four sensors work!

P.S. KristofRobot, the maintener of the razor_imu_9dof package , mentioned that it is possible to run run multiple instances of the same node to collect data from two or more sensors, using remapping https://github.com/KristofRobot/razor... for which one of the recommendations is to create a lunch file. However, the query for the synchronizations of sensors is sill remained to be answerred.

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