I increased the baud rate to 921600 and activated HW flow control. Not yet removed the topics I am not using (I suppose you mean on the RPI at the workspace directory of the micrortps_agent and not at the firmware / micrortps_client side). However I still have two questions:
- Should the MOCAP system subscribe to the PX4 Timesync topic or publish to it?
- Ideally, to what value should the timestamp_sample variable be set to?
EDIT:
I subscribed to the VehicleOdometry message. Simply copied the timestamp and timestamp_sample to a private variable of the class that publishes the VehicleVisualOdometry. It is working now, however with a work around. Would be happy to hear your opinion about it since I hope it will just be a temporary fix.
NOTE: When the rpi ubuntu server 20.04 is not used for a certain amount of time it hibernates and this causes a mismatch in timestamp/sample (even when I copy the timestamp/sample from the vehicle_odometry message). Therefore when it hibernates I have to reboot the rpi. Looking for a work-around where the rpi ubuntu server doesn’t hibernate anymore.
Thank you for your help so far. I am enjoying the work you deliver for PX4.