Add stamp_with_current_time Option to Nodes which Process Lidar Data
Description
Sometimes the sensor data produced by a lidar (or other sensor) driver can use a header timestamp which is derived from the sensor itself or one which has uncontrollable latency introduced by other factors. Some algorithms such as Autoware.Auto's current implementation of NDT Matching are heavily reliant on accurate timestamps. If timestamps from some sources use the current ROS time but other sources do not it will introduce instability in the algorithm. This parameter would allow Lidar data which are processed by a node in Autoware.Auto to replace that timestamp with the current timestamp as of the time of processing.
A separate issue will be created to track the addition of the same functionality to non-lidar-data processing nodes.
Expected behavior
Users should be able to chose if they want to pass along the timestamp from the sensor driver or use a new timestamp as of the time of publishing.
Definition of Done
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Add stamp_with_current_time
topoint_cloud_filter_transform_nodes
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Add test to point_cloud_filter_transform_nodes
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Add stamp_with_current_time
topoint_cloud_fusion
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Add test to point_cloud_fusion
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Add stamp_with_current_time
toray_ground_classifier_nodes
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Add test to ray_ground_classifier_nodes
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Add stamp_with_current_time
tovoxel_grid_nodes
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Add test to voxel_grid_nodes