{"action":"created","issue":{"url":"https://api.github.com/repos/mavlink/mavros/issues/185","labels_url":"https://api.github.com/repos/mavlink/mavros/issues/185/labels{/name}","comments_url":"https://api.github.com/repos/mavlink/mavros/issues/185/comments","events_url":"https://api.github.com/repos/mavlink/mavros/issues/185/events","html_url":"https://github.com/mavlink/mavros/issues/185","id":53605934,"number":185,"title":"PixHawk timestamp instead of ROS time","user":{"login":"thedinuka","id":3462606,"avatar_url":"https://avatars.githubusercontent.com/u/3462606?v=3","gravatar_id":"","url":"https://api.github.com/users/thedinuka","html_url":"https://github.com/thedinuka","followers_url":"https://api.github.com/users/thedinuka/followers","following_url":"https://api.github.com/users/thedinuka/following{/other_user}","gists_url":"https://api.github.com/users/thedinuka/gists{/gist_id}","starred_url":"https://api.github.com/users/thedinuka/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/thedinuka/subscriptions","organizations_url":"https://api.github.com/users/thedinuka/orgs","repos_url":"https://api.github.com/users/thedinuka/repos","events_url":"https://api.github.com/users/thedinuka/events{/privacy}","received_events_url":"https://api.github.com/users/thedinuka/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"mhkabir","id":5557676,"avatar_url":"https://avatars.githubusercontent.com/u/5557676?v=3","gravatar_id":"","url":"https://api.github.com/users/mhkabir","html_url":"https://github.com/mhkabir","followers_url":"https://api.github.com/users/mhkabir/followers","following_url":"https://api.github.com/users/mhkabir/following{/other_user}","gists_url":"https://api.github.com/users/mhkabir/gists{/gist_id}","starred_url":"https://api.github.com/users/mhkabir/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mhkabir/subscriptions","organizations_url":"https://api.github.com/users/mhkabir/orgs","repos_url":"https://api.github.com/users/mhkabir/repos","events_url":"https://api.github.com/users/mhkabir/events{/privacy}","received_events_url":"https://api.github.com/users/mhkabir/received_events","type":"User","site_admin":false},"milestone":null,"comments":5,"created_at":"2015-01-07T07:38:31Z","updated_at":"2015-01-07T07:55:50Z","closed_at":null,"body":"I was looking at imu_pub.cpp and realized that imu/data_raw  topic is published with the header timestamp set to ROS::Time::now() \r\n(https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/imu_pub.cpp#L250)\r\n\r\nThe MAVLINK_MSG_ID_HIGHRES_IMU message from PixHawk does contain a time_usec filed which actually represent the time at which the imu data was captured. For certain applications like for synchronizing a camera and IMU, it maybe useful to have that as the timestamp instead of the ros time. \r\n\r\nI'm wondering whether this would qualify as a new feature request? I could do a PR for this, but the change in the code is really simple anyway."},"comment":{"url":"https://api.github.com/repos/mavlink/mavros/issues/comments/68989366","html_url":"https://github.com/mavlink/mavros/issues/185#issuecomment-68989366","issue_url":"https://api.github.com/repos/mavlink/mavros/issues/185","id":68989366,"user":{"login":"mhkabir","id":5557676,"avatar_url":"https://avatars.githubusercontent.com/u/5557676?v=3","gravatar_id":"","url":"https://api.github.com/users/mhkabir","html_url":"https://github.com/mhkabir","followers_url":"https://api.github.com/users/mhkabir/followers","following_url":"https://api.github.com/users/mhkabir/following{/other_user}","gists_url":"https://api.github.com/users/mhkabir/gists{/gist_id}","starred_url":"https://api.github.com/users/mhkabir/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mhkabir/subscriptions","organizations_url":"https://api.github.com/users/mhkabir/orgs","repos_url":"https://api.github.com/users/mhkabir/repos","events_url":"https://api.github.com/users/mhkabir/events{/privacy}","received_events_url":"https://api.github.com/users/mhkabir/received_events","type":"User","site_admin":false},"created_at":"2015-01-07T07:55:50Z","updated_at":"2015-01-07T07:55:50Z","body":"Pretty soon hopefully. Synchronisation works already (check system_time.cpp ) The plugins just need to be updated."}}