Hello,
I wonder why we don't capture the timestamp immediately after setting the GPIO pin to HIGH?
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bool to_high = gpio_handler_.set_gpio_pin_state(GPIO_HIGH); |
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rclcpp::sleep_for(std::chrono::nanoseconds(pulse_width)); |
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rclcpp::Time now = rclcpp::Clock{RCL_SYSTEM_TIME}.now(); |
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int64_t now_sec = now.nanoseconds() / 1e9; |
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trigger_time_msg.sec = (int32_t)now_sec; |
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trigger_time_msg.nanosec = (uint32_t)now_nsec; |
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trigger_time_publisher_->publish(trigger_time_msg); |
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bool to_low = gpio_handler_.set_gpio_pin_state(GPIO_LOW); |
In the current implementation above, we are waiting until the falling edge. Why? Is the camera capturing the frame according to a falling edge?
Hello,
I wonder why we don't capture the timestamp immediately after setting the GPIO pin to HIGH?
sensor_trigger/src/sensor_trigger.cpp
Lines 154 to 161 in 60c9e5b
In the current implementation above, we are waiting until the falling edge. Why? Is the camera capturing the frame according to a falling edge?