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Use simulation time if use_sim_time parameter is true #380

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Use simulation time if use_sim_time parameter is true #380

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de60298
Add use_sim_time parameter to UsbCamNode and update timestamp handling
RBT22 Dec 18, 2025
95bae35
Fix timer creation in UsbCamNode to use rclcpp::create_timer to make …
RBT22 Jan 5, 2026
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4 changes: 3 additions & 1 deletion include/usb_cam/usb_cam.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,6 +125,7 @@ typedef struct parameters_t
bool auto_white_balance;
bool autoexposure;
bool autofocus;
bool use_sim_time;

parameters_t()
// *INDENT-OFF*
Expand All @@ -148,7 +149,8 @@ typedef struct parameters_t
focus(-1),
auto_white_balance(true),
autoexposure(true),
autofocus(false)
autofocus(false),
use_sim_time(false)
{
}
// *INDENT-ON*
Expand Down
28 changes: 20 additions & 8 deletions src/usb_cam_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -217,7 +217,9 @@ void UsbCamNode::init()
// TODO(lucasw) should this check a little faster than expected frame rate?
// TODO(lucasw) how to do small than ms, or fractional ms- std::chrono::nanoseconds?
const int period_ms = 1000.0 / m_parameters.framerate;
m_timer = this->create_wall_timer(
m_timer = rclcpp::create_timer(
this,
this->get_clock(),
std::chrono::milliseconds(static_cast<int64_t>(period_ms)),
std::bind(&UsbCamNode::update, this));
RCLCPP_INFO_STREAM(this->get_logger(), "Timer triggering every " << period_ms << " ms");
Expand All @@ -231,7 +233,7 @@ void UsbCamNode::get_params()
"camera_name", "camera_info_url", "frame_id", "framerate", "image_height", "image_width",
"io_method", "pixel_format", "av_device_format", "video_device", "brightness", "contrast",
"saturation", "sharpness", "gain", "auto_white_balance", "white_balance", "autoexposure",
"exposure", "autofocus", "focus"
"exposure", "autofocus", "focus", "use_sim_time"
}
);

Expand Down Expand Up @@ -285,6 +287,8 @@ void UsbCamNode::assign_params(const std::vector<rclcpp::Parameter> & parameters
m_parameters.autofocus = parameter.as_bool();
} else if (parameter.get_name() == "focus") {
m_parameters.focus = parameter.as_int();
} else if (parameter.get_name() == "use_sim_time") {
m_parameters.use_sim_time = parameter.as_bool();
} else {
RCLCPP_WARN(this->get_logger(), "Invalid parameter name: %s", parameter.get_name().c_str());
}
Expand Down Expand Up @@ -378,9 +382,13 @@ bool UsbCamNode::take_and_send_image()
// grab the image, pass image msg buffer to fill
m_camera->get_image(reinterpret_cast<char *>(&m_image_msg->data[0]));

auto stamp = m_camera->get_image_timestamp();
m_image_msg->header.stamp.sec = stamp.tv_sec;
m_image_msg->header.stamp.nanosec = stamp.tv_nsec;
if (m_parameters.use_sim_time) {
m_image_msg->header.stamp = this->now();
} else {
auto stamp = m_camera->get_image_timestamp();
m_image_msg->header.stamp.sec = stamp.tv_sec;
m_image_msg->header.stamp.nanosec = stamp.tv_nsec;
}

*m_camera_info_msg = m_camera_info->getCameraInfo();
m_camera_info_msg->header = m_image_msg->header;
Expand All @@ -399,9 +407,13 @@ bool UsbCamNode::take_and_send_image_mjpeg()
// grab the image, pass image msg buffer to fill
m_camera->get_image(reinterpret_cast<char *>(&m_compressed_img_msg->data[0]));

auto stamp = m_camera->get_image_timestamp();
m_compressed_img_msg->header.stamp.sec = stamp.tv_sec;
m_compressed_img_msg->header.stamp.nanosec = stamp.tv_nsec;
if (m_parameters.use_sim_time) {
m_compressed_img_msg->header.stamp = this->now();
} else {
auto stamp = m_camera->get_image_timestamp();
m_compressed_img_msg->header.stamp.sec = stamp.tv_sec;
m_compressed_img_msg->header.stamp.nanosec = stamp.tv_nsec;
}

*m_camera_info_msg = m_camera_info->getCameraInfo();
m_camera_info_msg->header = m_compressed_img_msg->header;
Expand Down
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