Using the ros clock as timestamp

[tigelbri]

Hi,

is it possible to use the ros clock instead of the package timestamp for publishing or wouldnt it make sense to have the possibility for that?

Great Thanks is advance

[Livox-SDK]

Hi tigelbri,

It is possible, but we did not develop based on Ros clock
Reason: The ros clock is based on the moment system receiving point cloud, it is easily to be effected by data transferring. Therefore, it has a very high chance to make the timestamp not precise and not even;(if lagging, a big amount of point cloud will be synchronizing at one moment )
I guess what you actually need is Lidar synchronizing with multiple sensors. I would suggest you synchronized the system time with ptp(1588)/gps time first. so that, all sensors will be synchronized to the same clock