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SW-5459: add a parameter for utc/tai time offset #195

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merged 10 commits into from
Aug 25, 2023
Merged

SW-5459: add a parameter for utc/tai time offset #195

merged 10 commits into from
Aug 25, 2023

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Samahu
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@Samahu Samahu commented Aug 22, 2023 •
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Summary of Changes

  • Add parameter for UTC/TAI offset in ptp mode.
  • Don't alter the frame id for LaserScan messages.
  • bug fix: destagger timestamp as well when publishing destaggered point cloud

Validation

Use a sensor with PTP mode and a host machine with sync enabled.
The sensor timestamps and the host machine timestamp should match (on the order of 10 microseconds)

@Samahu Samahu added the enhancement New feature or request label Aug 22, 2023
@Samahu Samahu self-assigned this Aug 22, 2023
@Samahu Samahu mentioned this pull request Aug 22, 2023
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@Samahu Samahu requested a review from twslankard August 23, 2023 00:47
@Samahu Samahu marked this pull request as ready for review August 23, 2023 00:47
mtswisher
mtswisher reviewed Aug 23, 2023
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This is really exciting to finally get this feature. Name works for me, I can try and schedule in some time to try the build tomorrow

@Samahu
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Samahu commented Aug 23, 2023

This is really exciting to finally get this feature. Name works for me, I can try and schedule in some time to try the build tomorrow

Absolutely give it a test if you have time. You should be able to verify with your choice of ROS (1 or 2).

@Samahu Samahu mentioned this pull request Aug 23, 2023
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@Samahu Samahu merged commit 19071eb into ros2 Aug 25, 2023
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@Samahu Samahu deleted the SW-5459-add-parameter-for-utc-tai-offset-in-ptp-mode-ros2 branch August 25, 2023 23:17
@lowellausen lowellausen mentioned this pull request Oct 3, 2023
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AchmadFathoni pushed a commit to AchmadFathoni/ouster-ros that referenced this pull request Feb 16, 2024
@Samahu @AchmadFathoni
SW-5459: add a parameter for utc/tai time offset (ouster-lidar#195)
585d624 
* Implemented UTC/TAI offset for the PTP timestamp mode
* Make sure all the timestamp values of LidarScan are utc corrected
* Modify timestamp values before producing a PointCloud
* Remove no longer needed comment from the Dockerfile
* Destagger timestamp when generating destagger point clouds
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@mtswisher mtswisher mtswisher left review comments

@twslankard twslankard twslankard approved these changes

@celentes celentes Awaiting requested review from celentes

@Krishtof-Korda Krishtof-Korda Awaiting requested review from Krishtof-Korda

@pallenouster pallenouster Awaiting requested review from pallenouster

@chrisbayruns chrisbayruns Awaiting requested review from chrisbayruns

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@Samahu @twslankard @mtswisher