'get_all_poses' services is posting scaled timestamps

[lgjonathan]

When I call visual_slam/get_all_poses services, I'm supposed to get back list of timestamped poses. I found out that the timestamp of the poses are scaled by 1000. The posted time stamp.sec, stamp.nsec are both scaled by 1000. I'm suspecting that somewhere in the GetAllPoses source code has a wrong conversion between seconds and milliseconds.

[swapnesh-wani-nvidia]

Hello, could you send me the logs and the expected timestamps of the poses that you should be getting? What was the max_count value when you called the service?

[lgjonathan]

What I did was:

1. record RealSense Node (images, camera_info) into ROSBAG.
2. spin VSLAM node
3. play the ROSBAG
4. call get_all_poses service

Below are the logs.

requester: making request: isaac_ros_visual_slam_interfaces.srv.GetAllPoses_Request(max_count=2500)

(showing first three)

response:
isaac_ros_visual_slam_interfaces.srv.GetAllPoses_Response(success=True, 
poses=[geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1697772, nanosec=225198289), frame_id=''), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=-3.8812562053180955e-09, y=-5.446525896957155e-09, z=-8.265562123632719e-10), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0))), 
geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1697772, nanosec=225220645), frame_id=''), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=4.418022854224546e-06, y=1.6736096313252347e-06, z=3.3916685424628668e-06), orientation=geometry_msgs.msg.Quaternion(x=-4.2152878479843255e-07, y=4.585047469218542e-07, z=-2.199920930271903e-06, w=0.9999999925494194))), 
geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1697772, nanosec=225231822), frame_id=''), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=8.012561920622829e-07, y=-2.598832679723273e-06, z=7.860900950618088e-06), orientation=geometry_msgs.msg.Quaternion(x=-8.024351245694561e-07, y=2.521119768061908e-06, z=-1.9565751472327975e-06, w=1.0))),

......

(showing last three)

geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1697772, nanosec=252984882), frame_id=''), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.06112809106707573, y=0.086497001349926, z=0.1103435829281807), orientation=geometry_msgs.msg.Quaternion(x=0.006695529637307941, y=-0.0036027766201613158, z=-0.0022156175509504866, w=0.9999686400145432))), 
geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1697772, nanosec=252996008), frame_id=''), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.06112809106707573, y=0.086497001349926, z=0.1103435829281807), orientation=geometry_msgs.msg.Quaternion(x=0.006695516315656437, y=-0.00360278194858956, z=-0.0022156228897145195, w=0.9999686474653574))), 
geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1697772, nanosec=253007135), frame_id=''), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.06112809106707573, y=0.086497001349926, z=0.1103435829281807), orientation=geometry_msgs.msg.Quaternion(x=0.006695528705956159, y=-0.0036027730111731614, z=-0.002215646539274695, w=0.9999686400145432)))])

As you can see, I've requested 2500 poses and yet the "sec"' remains the same for all of them. To get the reasonable timestamps, I had to do

sec * 1000 + nanosec * (10**-6)

which indicates to me that the timestamps are offset by a order of 3.

[lgjonathan]

below is the ROSBAG info

Files:             camera_front_0.db3
Bag size:          1.2 GiB
Storage id:        sqlite3
Duration:          31.518s
Start:             Oct 20 2023 11:23:43.232 (1697772223.232)
End:               Oct 20 2023 11:24:14.750 (1697772254.750)
Messages:          11146
Topic information: Topic: /camera/infra2/image_rect_raw | Type: sensor_msgs/msg/Image | Count: 2786 | Serialization Format: cdr
                   Topic: /camera/infra1/image_rect_raw | Type: sensor_msgs/msg/Image | Count: 2786 | Serialization Format: cdr
                   Topic: /camera/infra2/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 2786 | Serialization Format: cdr
                   Topic: /camera/infra1/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 2786 | Serialization Format: cdr
                   Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 2 | Serialization Format: cdr

[FrontlineLucian]

i just ran into the same issue and can confirm this