BTW, the swissranger samples for a time before returning data.  The 
default in swissranger_camera is to turn on autoexposure, and this time 
interval changes dynamic based on the ambient light.  You can turn off 
autoexposure and set the integration time to a constant.  That may help 
to more reliably handle the (constant) time lag.

On 05/04/2010 11:57 AM, Bill Morris wrote:
> Hello,
>
> I'm working with the SR4K and the swissranger_camera driver on
> boxturtle. I was wondering if there was any calibration procedures for
> the driver.
>
> I got the point cloud running in rviz with a camera and it looks like
> the data from the sr4k is lagging behind the color camera images by a
> few tenths of a second. Does anyone have any ideas as to the cause of
> this? I tried adjusting the integration time, but that did not seem to
> help.
>
> Thanks,
>
> -Bill
>
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