ROS2 bridge: stamp message headers/TF with sim time from each message's time_stamp - #194
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ROS2 bridge: stamp message headers/TF with sim time from each message's time_stamp#194andrewjong wants to merge 1 commit into
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Sensor and pose handlers previously stamped ROS headers with the bridge's wall clock at receive time, discarding the sim-clock time_stamp every Project AirSim message carries. That broke exact RGB/depth/pose sync downstream (ApproximateTimeSynchronizer saw network jitter) and made header stamps inconsistent with the /clock topic. Prefer the message's time_stamp (sim nanos) when present; fall back to wall clock. TF broadcasts reuse the owning message's stamp. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Withdrawing this per discussion in #177 — deferring the clock/timing area to #182 and the planned sim-published clock topic. We'll keep carrying this header-stamping commit on our fork (castacks/ProjectAirSim, branch |
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Split out of #177 per review. One commit: the ROS2 C++ bridge stamps sensor/pose message headers (and TF broadcasts) from each message's own sim
time_stampfield instead of the bridge's wall clock at receive time. Previously an RGB/depth pair rendered on the same sim tick received two different header stamps offset by network jitter, which breaksmessage_filterstime synchronization downstream and makes header stamps inconsistent with the/clocktopic the bridge itself publishes.Relationship to the planned sim-published clock topic (and to #182's
/clockfix): complementary rather than competing. A native Project AirSim clock topic that the bridge forwards is the right design for/clockpublication (replacing today'sGetSimTimepolling), but per-message header stamps should come from each sample's own acquisition time regardless of how/clockis delivered — that is what this PR wires up, and it stays correct unchanged once the native clock topic lands. Happy to rebase/adapt this on top of that work when it exists.How Has This Been Tested?
Linux (Ubuntu 22.04), Blocks + custom UE 5.7.4 environments, ROS 2 Humble, camera + non-physics robot scenes. Before: RGB/depth pairs from the same sim tick differed by network-jitter-sized offsets and drifted from
/clock. After: pairs from the same tick carry identical stamps (verified with an exact-time pairing downstream), consistent with/clock; an RGB-D mapping pipeline consuming the bridge has run extended sessions on these stamps, including recording and replaying sim-time rosbags.Screenshots and videos (if appropriate):
N/A — behavioral fix; evidence described above.
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