Add new parameter to apply an offset to image time stamps (#56)

Author: stwirth

spinnaker_camera_driver/cfg/Spinnaker.cfg

@@ -302,6 +302,8 @@ auto_lighting_mode = gen.enum([
 ], "Auto algorithms lighting modes")
 gen.add("auto_exposure_lighting_mode", str_t, SensorLevels.RECONFIGURE_RUNNING, "Auto exposure lighting mode.", "Normal", edit_method=auto_lighting_mode)
 
+# Other
+gen.add("time_offset", double_t, SensorLevels.RECONFIGURE_RUNNING, "Time offset to add to image time stamps.", 0.0, -5.0, 5.0)
 
 
 exit(gen.generate(PACKAGE, "spinnaker_camera_driver", "Spinnaker"))

spinnaker_camera_driver/src/nodelet.cpp

@@ -586,7 +586,7 @@ class SpinnakerCameraNodelet : public nodelet::Nodelet
 
             // wfov_image->temperature = spinnaker_.getCameraTemperature();
 
-            ros::Time time = ros::Time::now();
+            ros::Time time = ros::Time::now() + ros::Duration(config_.time_offset);
             wfov_image->header.stamp = time;
             wfov_image->image.header.stamp = time;