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Feature/cuckoo #59

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Feature/cuckoo #59

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eaab092
Expose timestamping system as a launch argument.
rikba Dec 31, 2020
f1c9d5a
Apply cuckoo time translating.
rikba Jan 4, 2021
9d52194
Latency compensation
rikba Jan 4, 2021
34f52b7
Remove offset.
rikba Jan 5, 2021
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3 changes: 2 additions & 1 deletion src/ros_vrpn_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -263,7 +263,8 @@ void inline getTimeStamp(const ros::Time& vicon_stamp, ros::Time* timestamp) {
}
case kTranslation: {
if(device_time_translator) {
*timestamp = device_time_translator->update(vicon_stamp.toNSec(), ros::Time::now(), 0.0);
// Compensate for latency according to https://core.ac.uk/download/pdf/211853264.pdf
*timestamp = device_time_translator->update(vicon_stamp.toNSec(), ros::Time::now(), -0.0549);
}
}
}
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