Feature/timesync

realsense2_camera/.gitignore

@@ -1 +1,2 @@
 CMakeLists.txt.user
+cmake-build-debug/*

realsense2_camera/include/base_realsense_node.h

@@ -3,6 +3,7 @@
 
 #pragma once
 
+#include "../include/mavros_timestamp.h"
 #include "../include/realsense_node_factory.h"
 #include <dynamic_reconfigure/server.h>
 #include <realsense2_camera/base_d400_paramsConfig.h>
@@ -28,6 +29,14 @@ namespace realsense2_camera
         base_depth_count
     };
 
+    // not using enum class here for consistence with realsense code.
+    enum inter_cam_sync_mode{
+      inter_cam_sync_default = 0,
+      inter_cam_sync_master = 1,
+      inter_cam_sync_slave = 2,
+      inter_cam_sync_none = -1
+    };
+
     struct FrequencyDiagnostics
     {
       FrequencyDiagnostics(double expected_frequency, std::string name, std::string hardware_id) :
@@ -172,6 +181,13 @@ namespace realsense2_camera
         std::map<stream_index_pair, sensor_msgs::CameraInfo> _camera_info;
         bool _intialize_time_base;
         double _camera_time_base;
+        inter_cam_sync_mode _inter_cam_sync_mode;
+        bool _force_mavros_triggering;
+        typedef struct{
+          sensor_msgs::ImagePtr img;
+          sensor_msgs::CameraInfo info;
+        }cache_type;
+        mavros_trigger::MavrosTrigger<stream_index_pair, cache_type> _trigger;
         std::map<stream_index_pair, std::vector<rs2::stream_profile>> _enabled_profiles;
 
         ros::Publisher _pointcloud_publisher;

realsense2_camera/include/constants.h

@@ -35,6 +35,7 @@ namespace realsense2_camera
     const bool ALIGN_DEPTH    = false;
     const bool POINTCLOUD     = false;
     const bool SYNC_FRAMES    = false;
+    const bool FORCE_MAVROS_TRIGGERING = false;
 
     const int DEPTH_WIDTH     = 640;
     const int DEPTH_HEIGHT    = 480;
@@ -68,6 +69,7 @@ namespace realsense2_camera
     const bool ENABLE_FISHEYE = true;
     const bool ENABLE_IMU     = true;
 
+    const std::string INTER_CAM_SYNC_MODE              = "none";
 
     const std::string DEFAULT_BASE_FRAME_ID            = "camera_link";
     const std::string DEFAULT_DEPTH_FRAME_ID           = "camera_depth_frame";