Idea For certain applications (e.g. visual inertial odometry, SLAM, …), you may need to hardware-synchronize camera and IMU so that both use the same (millisecond precise) time base: time: 0 ms, IMU data, camera image #0 time: 5 ms, IMU data time: 10 ms, IMU data … time: 50 ms, IMU data, camera image #1 … Continue reading ROS camera and IMU synchronization