Missing Timestamp Values in Image Messages #4
Description
Description
When running the anonymizer tool on a bag file, the output image topics (e.g., /gmsl_camera_a/gmsl_camera_rear_left/image_raw) have image messages whose header timestamps remain unset (e.g., stamp: {sec: 0, nanosec: 0}), even though the corresponding camera_info topics (e.g., /gmsl_camera_a/gmsl_camera_rear_left/camera_info) contain valid timestamp values. This issue prevents downstream applications that rely on proper timestamping from functioning correctly.
Steps to Reproduce
- Run the anonymizer on a bag file that contains both image and camera_info topics.
- After processing, inspect the resulting bag file using tools such as
ros2 topic echo. - Verify that the camera_info topics show valid header timestamps, while the image topics (e.g.,
/gmsl_camera_a/gmsl_camera_rear_left/image_raw) have header stamps with zero values (or otherwise missing).
Expected Behavior
Image messages should have their header.stamp fields populated with the correct timestamp (both seconds and nanoseconds) that reflect the original data, similar to what is present in the camera_info topics.
Actual Behavior
Image messages are written to the bag file without valid timestamp values, while camera_info messages are correct. This discrepancy results in potential issues with sensor data synchronization and processing downstream.
Environment
- ROS Version: ROS2 Humble
- Operating System: Ubuntu 22.04