TImestamp Capture Position

[ceyhunbilir]

Hello,

I wonder why we don't capture the timestamp immediately after setting the GPIO pin to HIGH?

sensor_trigger/src/sensor_trigger.cpp

Lines 154 to 161 in 60c9e5b

	bool to_high = gpio_handler_.set_gpio_pin_state(GPIO_HIGH);
	rclcpp::sleep_for(std::chrono::nanoseconds(pulse_width));
	rclcpp::Time now = rclcpp::Clock{RCL_SYSTEM_TIME}.now();
	int64_t now_sec = now.nanoseconds() / 1e9;
	trigger_time_msg.sec = (int32_t)now_sec;
	trigger_time_msg.nanosec = (uint32_t)now_nsec;
	trigger_time_publisher_->publish(trigger_time_msg);
	bool to_low = gpio_handler_.set_gpio_pin_state(GPIO_LOW);

In the current implementation above, we are waiting until the falling edge. Why? Is the camera capturing the frame according to a falling edge?

[ceyhunbilir]

@wep21 @manato @drwnz

[wep21]

I'm sorry, but I'm not a maintainer of this repository.
@drwnz @manato Do you have any thoughts?