Merge pull request #45 from AkiraShibata18/2022.07.11-add-timestamp-n…

…ow-unless-use-device-timestamp add timestamp from ros::Time::now unless use_device_timestamp param
GITAI · Jul 11, 2022 · 89390e0 · 89390e0
2 parents 90b54a6 + 87f7557
commit 89390e0
Showing 1 changed file with 10 additions and 3 deletions.
diff --git a/spinnaker_camera_driver/src/SpinnakerCamera.cpp b/spinnaker_camera_driver/src/SpinnakerCamera.cpp
@@ -417,9 +417,16 @@ void SpinnakerCamera::grabImage(sensor_msgs::Image* image, const std::string& fr
       if (use_device_seq_) image->header.seq = static_cast<uint32_t>(image_ptr->GetID());
       else                 image->header.seq = seq_++;
 
-      ros::Time img_time = ros::Time();
-      img_time.fromNSec(static_cast<uint64_t>(image_ptr->GetTimeStamp()));
-      image->header.stamp = img_time + timestamp_diff;
+      if (use_device_timestamp)
+      {
+        ros::Time img_time = ros::Time();
+        img_time.fromNSec(static_cast<uint64_t>(image_ptr->GetTimeStamp()));
+        image->header.stamp = img_time + timestamp_diff;
+      }
+      else
+      {
+        image->header.stamp = ros::Time::now();
+      }
 
       if (image_ptr->IsCompressed())
       {