zed-ros2-wrapper topics synchronization with the jetson

Software ROS2
1

Hi there!

I’m having trouble understanding how the zed-ros2-wrapper handles the timestamp of the topics. Since I need to synchronize topics from different sensors, I want to make the sensors use the system clock of the jetson. However, for the zed-ros2-wrapper I haven’t found a parameter to enable this, unlike others.

So, is the zed-ros2-wrapper using the ZED’s internal clock as timestamp? And if yes, is it possible to synchronize it to the jetson’s clock?

2

Hi @ndr222 ,

Welcome to the Stereolabs forums! :waving_hand:

All timestamps in the ZED SDK use the host’s clock to timestamp all data published.

You can find more information about this here: Sensors Time Synchronization - Stereolabs

In the case of the zed-ros2-wrapper, it uses the TIME_REFERENCE::IMAGE in the case of image and computed data (such as point cloud, depth, objects, etc), and TIME_REFERENCE::CURRENT for sensor data (IMU, temperature, …)

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