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sync_gps_lidar_imu_cam's Issues

时间戳的安放问题

尊敬的作者：
您好！
看到您开源的硬件时间同步方案，有些细节问题想要向您请教一下。在方案中，您使用PPS信号作为整个系统的主时钟，相机触发信号由主时钟分频（INS完成）得到。这样的确做到了多个传感器的触发时间一致。但是对于工控机而言，由于各种传感器信号传递的数据量和所需时间不同，即使同时触发，工控机所得到的数据时间也有些许差异。请问这个问题应该如何解决呢？
另外由于相机回传的数据没有时间戳，工控机接受的数据只能按照接受到的ROS时间来做参考，一旦回传的数据掉帧或者过慢导致错位，则每一秒的“第一帧”无法对齐，后面的所有数据可能都会相应错误。这个问题您是怎样解决的呢？
非常感谢！期待您的回复！

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