From f857081e1f76010bfd4e592f0c70ca917b3bddc5 Mon Sep 17 00:00:00 2001
From: Michael Stypa <mstypa@uos.de>
Date: Tue, 27 Aug 2013 12:22:49 +0200
Subject: [PATCH] fixed missing timestamp in camera_info and image_raw

---
 libuvc_camera/src/camera_driver.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index 10cdd51..1bb8491 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -159,6 +159,8 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
     return;
   }
 
+  ros::Time timestamp = ros::Time::now();
+
   sensor_msgs::Image::Ptr image(new sensor_msgs::Image());
   image->width = config_.width;
   image->height = config_.height;
@@ -174,6 +176,8 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
   std_msgs::Header::Ptr cinfoheader(new std_msgs::Header());
   imageheader->frame_id = config_.frame_id;
   cinfoheader->frame_id = config_.frame_id;
+  imageheader->stamp = timestamp;
+  cinfoheader->stamp = timestamp;
   image->header = *imageheader;
   cinfo->header = *cinfoheader;
 
-- 
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