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sensors lastMeasurementTime

asked 2013-03-07 08:08:00 -0500

SImone gravatar image

I've configured a robot with 2 laser scanners and a IMU all the sensors have 10Hz update rate

now, If I look at sensor datas I notice that datas have different time stamp: e.g. by using gztopic echo, IMU time stamps are 0.1, 0.2 and so on the first laser produces data at 0.101, 0.201, 0.301 and so on and the second laser at 0.102, 0.202, 0.203

notice that my simulation time is 1ms, so exactly the 0.001 differences between sensors

it is that normal? why this happens? I was expecting that all the sensors were acquired exactly at the same time since they have the same update rate.

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answered 2013-03-07 20:42:17 -0500

nkoenig gravatar image

Sensor and physics run in different threads. It's possible for physics to take a step between an IMU and Laser update.

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Asked: 2013-03-07 08:08:00 -0500

Seen: 75 times

Last updated: Mar 07 '13