From c07144173d35b798ed3f571d6d33fda3701bd64e Mon Sep 17 00:00:00 2001
From: Ken Tossell <ken@tossell.net>
Date: Wed, 25 Sep 2013 21:43:29 -0400
Subject: [PATCH] Fixed image and cinfo headers' frame + timestamp (from fuerte
branch).
---
libuvc_camera/src/camera_driver.cpp | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index af3b79b..b92a2f6 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -146,6 +146,9 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
}
void CameraDriver::ImageCallback(uvc_frame_t *frame) {
+ // TODO: Switch to {frame}'s timestamp once that becomes reliable.
+ ros::Time timestamp = ros::Time::now();
+
boost::recursive_mutex::scoped_lock(mutex_);
assert(state_ == kRunning);
@@ -169,6 +172,11 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
sensor_msgs::CameraInfo::ConstPtr cinfo(
new sensor_msgs::CameraInfo(cinfo_manager_.getCameraInfo()));
+ image->header.frame_id = config_.frame_id;
+ image->header.stamp = timestamp;
+ cinfo->header.frame_id = config_.frame_id;
+ cinfo->header.stamp = timestamp;
+
cam_pub_.publish(image, cinfo);
if (config_changed_) {
--
GitLab