fix for incorrect timestamps for imu and frame msgs

CMakeLists.txt

@@ -27,6 +27,11 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+
+  # ignore the private-field-unused warning with clang
+  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wno-unused-private-field)
+  endif()
 endif()
 
 find_package(rclcpp REQUIRED)
@@ -51,7 +56,7 @@ endif()
 add_library(driver SHARED  src/libcaer_wrapper.cpp  src/driver.cpp
   src/message_converter.cpp
   src/device/device.cpp src/device/davis.cpp src/device/dvxplorer.cpp)
-target_include_directories(driver PUBLIC include)
+target_include_directories(driver PUBLIC include include/device)
 target_link_libraries(driver ${rclcpp_components_TARGETS}
   ${event_camera_msgs_TARGETS} ${sensor_msgs_TARGETS}
   ${std_srvs_TARGETS} libcaer::caer rclcpp::rclcpp

include/libcaer_driver/callback_handler.hpp

@@ -32,9 +32,8 @@ class CallbackHandler
   virtual void deviceDisconnectedCallback() = 0;
   virtual void polarityPacketCallback(
     uint64_t t, const libcaer::events::PolarityEventPacket & packet) = 0;
-  virtual void framePacketCallback(
-    uint64_t t, const libcaer::events::FrameEventPacket & packet) = 0;
-  virtual void imu6PacketCallback(uint64_t t, const libcaer::events::IMU6EventPacket & packet) = 0;
+  virtual void framePacketCallback(const libcaer::events::FrameEventPacket & packet) = 0;
+  virtual void imu6PacketCallback(const libcaer::events::IMU6EventPacket & packet) = 0;
 };
 }  // namespace libcaer_driver
 #endif  // LIBCAER_DRIVER__CALLBACK_HANDLER_HPP_

include/libcaer_driver/driver.hpp

@@ -62,8 +62,8 @@ class Driver : public rclcpp::Node, public CallbackHandler
   void deviceDisconnectedCallback() override;
   void polarityPacketCallback(
     uint64_t t, const libcaer::events::PolarityEventPacket & packet) override;
-  void framePacketCallback(uint64_t t, const libcaer::events::FrameEventPacket & packet) override;
-  void imu6PacketCallback(uint64_t t, const libcaer::events::IMU6EventPacket & packet) override;
+  void framePacketCallback(const libcaer::events::FrameEventPacket & packet) override;
+  void imu6PacketCallback(const libcaer::events::IMU6EventPacket & packet) override;
 
   // ---------------- end of inherited  -----------
 

launch/driver_composition.launch.py

@@ -50,6 +50,7 @@ def launch_setup(context, *args, **kwargs):
                         "aps_frame_mode": 1,
                         "auto_exposure_enabled": False,
                         "auto_exposure_illumination": 127.0,
+                        "time_reset_delay": 0,  # increase for syncing mult. cameras
                     },
                 ],
                 extra_arguments=[{"use_intra_process_comms": True}],

launch/start_recording.launch.py

@@ -40,7 +40,10 @@ def launch_setup(context, *args, **kwargs):
                 name='recorder',
                 parameters=[
                     {
-                        'record.topics': ['/event_camera/events'],
+                        'record.topics': [
+                            '/event_camera/events',
+                            '/event_camera/imu',
+                        ],
                         # 'record.topics': ['/event_camera/events',
                         #                   '/event_camera/image_raw'],
                         'record.start_paused': False,

src/driver.cpp

@@ -535,12 +535,11 @@ static int32_t compute_new_exposure_time(
   return (newTime);
 }
 
-void Driver::framePacketCallback(uint64_t t, const libcaer::events::FrameEventPacket & packet)
+void Driver::framePacketCallback(const libcaer::events::FrameEventPacket & packet)
 {
   if (cameraPub_.getNumSubscribers() > 0) {
     std::vector<std::unique_ptr<sensor_msgs::msg::Image>> msgs;
-    (void)message_converter::convert_frame_packet(
-      &msgs, packet, cameraFrameId_, rclcpp::Time(t, RCL_SYSTEM_TIME));
+    (void)message_converter::convert_frame_packet(&msgs, packet, cameraFrameId_, rosBaseTime_);
     for (auto & img : msgs) {
       sensor_msgs::msg::CameraInfo::UniquePtr cinfo(
         new sensor_msgs::msg::CameraInfo(cameraInfoMsg_));
@@ -567,12 +566,11 @@ void Driver::framePacketCallback(uint64_t t, const libcaer::events::FrameEventPa
   }
 }
 
-void Driver::imu6PacketCallback(uint64_t t, const libcaer::events::IMU6EventPacket & packet)
+void Driver::imu6PacketCallback(const libcaer::events::IMU6EventPacket & packet)
 {
   if (imuPub_->get_subscription_count() > 0) {
     std::vector<std::unique_ptr<sensor_msgs::msg::Imu>> msgs;
-    (void)message_converter::convert_imu6_packet(
-      &msgs, packet, imuFrameId_, rclcpp::Time(t, RCL_SYSTEM_TIME));
+    (void)message_converter::convert_imu6_packet(&msgs, packet, imuFrameId_, rosBaseTime_);
     for (auto & msg : msgs) {
       imuPub_->publish(std::move(msg));
     }

src/libcaer_wrapper.cpp

@@ -205,12 +205,12 @@ void LibcaerWrapper::processPacket(
     }
     case FRAME_EVENT: {
       const auto & fpacket = static_cast<const libcaer::events::FrameEventPacket &>(packet);
-      callbackHandler_->framePacketCallback(nsSinceEpoch, fpacket);
+      callbackHandler_->framePacketCallback(fpacket);
       break;
     }
     case IMU6_EVENT: {
       const auto & fpacket = static_cast<const libcaer::events::IMU6EventPacket &>(packet);
-      callbackHandler_->imu6PacketCallback(nsSinceEpoch, fpacket);
+      callbackHandler_->imu6PacketCallback(fpacket);
       break;
     }
     default: