TODO: Syncronization sensors

[giulioturrisi]

For now, imu and blind state does not have a timestamp. Unitree provides a tick counter (ms), but this seems not linked with the timestamp of the unitree lidar built in (go2).

Possible solution: at startup, we create a new clock, and:

• if lidar is present, we rebase this clock at the lidar last message timestamp (so it start from that), and we fill imu and blind state
• if lidar is not present (e.g. b2), we use this new clock as it is.

Status: Currently not working on it, PRs are very welcome!

What do you think @ylenianistico?

[ylenianistico]

From what i understood the low level sensors (IMU and joint encoders) are already synchronized. For the LiDAR i think we need to check the tick published by the /lowstate topic, understand the unit of measurement and compare with the LiDAR timestamp.

@my-rice @mich-pest