I have a robot arm with a Zed X camera attached to the tip. My goal is to develop a visual servoing application. I want to record the camera data synced with the joint state data to test my tracking algorithm. I can achieve that by recording a bag file with the joint states and an SVO with camera data or by ingesting the joint states into the SVO. Which approach is the best? Is there a recommended way to do that?
Hi @Mat198
The proposed solutions are valid.
If you decide to record the SVO and the rosbag separately, you need a node using message_filter during the playback to guarantee that all the topics are synchronized.
You must also set the new parameter svo.use_svo_timestamp to true to use the timestamps of the SVO instead of the system time.