**Actual Issue:**
I have a topic published with images from a camera and another topic with details of point cloud.
When I plot these two topics, there is a time lag between the two plots.
Is there any method to synchronize this time lag by adjusting the time stamp of point cloud message?
I am using rosbag play for the above mentioned purpose.
**Re-creating the Scenario**
I tried to simulate the above scenario using the below mentioned points:
i. Created a subscriber node which subscribe to the topic(/point_cloud) with point cloud data.
ii. Inside the callback function, I copied the message to a new pointer variable of the same type (sensor_msgs::PointCloud2) and incremented the timestamp by 3sec (The debug print shows that the timestamp has been successfully updated).
iii. Then I published the modified point cloud data in a new topic(/point_cloud_new).
iv. Created two instances of rviz which subscribes to the two topics, /point_cloud and /point_cloud_new respectively.
v. Since the timestamp of /point_cloud_new was incremented by 3sec, I expected a 3sec delay between the two plots in the rviz. But it is not happening.
Since I am new to ROS, I am not sure whether it is the correct method to approach this issue.
Please comment on the actual issue and the scenario re-created.
Please help me to sort out this issue.
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