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update sync time

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This commit is contained in:
Joe Dong
2024-03-26 11:44:09 +08:00
parent 2a666ea345
commit 9a5122b92b
1 changed files with 1 additions and 3 deletions
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orbbec_camera/src/d2c_viewer.cpp
+1 -3
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@@ -30,9 +30,7 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
node_, "depth/image_raw", depth_qos); node_, "depth/image_raw", depth_qos);
sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_, sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_,
*depth_sub_); *depth_sub_);
// set 2ms as the max interval duration sync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(0.002)); // 2ms
int64_t max_interval_duration_ns = 2000000;
sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(max_interval_duration_ns));
using std::placeholders::_1; using std::placeholders::_1;
using std::placeholders::_2; using std::placeholders::_2;