Enabling full realtime video and navdata #44
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Before, we were stamping the /ardrone/navdata,mag,imu messages with the time that they were processed in the main ros loop. This caused unnecessary delays in the timestamp. Now we save the time of navdata reception in the navdata handling loop, which is then used to stamp the output messages when processed by the loop.
Will now publish video frames as soon as received if fullspeed_video=true. Unfortunately to do this we needed to do a few dirty hacks, implying that our architecture is no longer so suitable for the future direction of the driver. We need to talk about an architectural redesign perhaps...
…topics as well. This update also includes a few speed improvements for the case where fullspeed_navdata==true.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This branch is a further extension of the functionality in #43. In this branch I have enabled realtime publishing of /ardrone/navdata,mag,imu topics as well. Furthermore, this branch allows realtime publishing of video frames. The branch also includes speed improvements for the navdata pipeline. I haven't considered speed of the video pipeline as I have no idea what it's doing (I never use video), and it is fairly slow (30Hz) anyway.
However, making the changes in the above branch has indicated that the current architecture doesn't really fit the future direction of the driver, so perhaps we need to consider a few architectural changes so that making realtime stuff work isn't such a hack...
I suggest we continue this discussion in #42.