From 981dd6ba7930fb7d2baf45a63ed373a9dc63a905 Mon Sep 17 00:00:00 2001
From: slz <shenlanzhou@orbbec.com>
Date: Thu, 3 Sep 2026 10:49:04 +0800
Subject: [PATCH] fix(imu): honor configured timestamp domain

---
 orbbec_camera/src/ob_camera_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 6d94249b..3c72b871 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -7371,7 +7371,7 @@ void OBCameraNode::onNewIMUFrameCallback(const std::shared_ptr<ob::Frame> &frame
   setDefaultIMUMessage(imu_msg);
 
   imu_msg.header.frame_id = optical_frame_id_[stream_index];
-  auto timestamp = fromUsToROSTime(frame->getTimeStampUs());
+  auto timestamp = fromUsToROSTime(getFrameTimestampUs(frame));
   imu_msg.header.stamp = timestamp;
 
   auto imu_info = createIMUInfo(stream_index);