rovioli sync and config questions

[neorobo]

Hi, so far I have rovioli running with a machine vision monocular camera and pixracer imu. It usually runs quite well until I receive the following error (the timestamps are just an example of one such failure):

Check failed: timestamp_nanoseconds > last_value.timestamp (1532634179260791864 vs. 1532634179262037280) Timestamps not strictly increasing.

I've calibrated with kalibr and have computed the offset between camera and imu timestamps, and I'm wondering if this info should be included in one of the configuration files. There is a paramater called timeOffset in rovioli's config file, and a line_delay_nanoseconds parameter in the ncamera.yaml file. Are either of these the appropriate place to include the delay?

Alternatively I can use topic tools to add a delay to the timestamp of each image...but I still seem to receive the same error.

Any suggestions? Everything seems to be running reasonably well until the check fails.

Thanks.

[mfehr]

Hi @neorobo There is currently no option to pass this time offset into ROVIOLI. However, it shouldn't be much work to do this, please have a look at this issue as well.