Timestamps

What is it

When retrieving some sensor data acquired by the robot, it can be interesting to know the timestamp associated with that data. All robot sensor data events are timestamped on a monotonic clock, associated with the robot. The timestamps express a number of nanoseconds since a robot-related epoch, typically since the robot was booted. As such, these timestamps are not directly convertible to a human date. They can be used for interval timing or when using time related APIs on the robot.

Warning

Robot APIs expecting timestamps should not be fed with tablet-related timestamps, which have no meaning for the robot.

How to use it

Following is a list of timestamped robot sensor data APIs:

The FreeFrame.update() API accepts a robot timestamp for publishing timestamped Transforms, see javadoc FreeFrame.