How can i set time stamp mode from time_from_ROS for radar to synchronise radar frame and camera frame in ROS environment.

[deepumdev]

I am using your ti_mmwave_radar awr1642. I have used ROS Driver to integrate it to the ROS environment. I can able to get sensor_msg/pointcloud2 topic named as ti_mmwave/radar_scan_pcl. I want to calibrate and fuse the RADAR data with data from a USB camera, so I have implemented the cv_camera ROS package for the camera and created a new package called calib. However, I am facing an issue where the message_filter.ApproximateTimeSynchronizer method is not able to invoke the callback function. The topics I am subscribing to are cv_camera/image_raw, cv_camera/camera_info, and ti_mmwave/radar_scan_pcl. When I try to echo the ti_mmwave/radar_scan_pcl topic, the timestamp is not showing.
How can I synchronize the time between the data streams ?
I have given below the code used.
``
import rospy import message_filters from sensor_msgs.msg import Image, CameraInfo, PointCloud2 def callback(image_msg, camera_info_msg, radar_msg): image_sub = message_filters.Subscriber('/cv_camera/image_raw', Image) info_sub = message_filters.Subscriber('/cv_camera/camera_info', CameraInfo) radar_sub = message_filters.Subscriber('ti_mmwave/radar_scan_pcl', PointCloud2) ts = message_filters.ApproximateTimeSynchronizer([image_sub, info_sub, radar_sub ], 10, 0.1) ts.registerCallback(callback) rospy.init_node('sync_node')

``

I have attached the rostopic result of rostopic echo of camera and radar topics. It shows the difference in the time stamps.

Is the time stamp difference is the main reason for callback method not able to invoke ?

How can i set the time_from_ROS as the time stamp source for the ti_mmwave radar? or rather how can solve the above issue ?

Thanks in advance.

[deepumdev]

closed.