ROS2 Synchronization Issue: Pose and GNSS Data Out of Sync with Different Update Rates (200 - 100) #5246
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cavadibrahimli1
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I think this is what you want https://github.com/ros2/message_filters/blob/rolling/doc/index.rst#3-time-synchronizer
Could the issue simply come from this |
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Body:
I am working with ROS2 Humble and trying to synchronize the data from two topics in my system: one from a GNSS sensor and another from a pose estimation node. However, I am experiencing synchronization issues, where one data stream (GNSS) seems to lag behind the other (pose) by around 2-3 meters during playback.
Setup:
/ros_pospac_bridge/pose_stamped
): Pose data from a pose estimation node, publishing at an average rate of 200 Hz./applanix/lvx_client/gnss/fix
): GNSS data from a GNSS sensor, publishing at an average rate of 100 Hz.Problem:
What I’ve Tried:
ros2 topic hz
:/ros_pospac_bridge/pose_stamped
) is updating at ~200 Hz./applanix/lvx_client/gnss/fix
) is updating at ~100 Hz.My Questions:
Additional Information:
rosbag2
for playback, but the same issue happens during live processing.I run this via 3 terminals:
ros2 launch ros_pospac_bridge ros_pospac_bridge.launch.xml
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/home/javadibrahimli/autoware_map/test_route2 vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
ros2 bag play rosbag2_2024_09_12-14_40_52/
Any guidance or suggestions on how to properly synchronize these two data streams would be greatly appreciated!
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