High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccurate timestamping can be compensated for in post-processing but is imperative for online estimation. Simultaneously, even online mitigation of timing issues can be achieved through a relaxation of the tuning parameters from their otherwise more performative optimal values, but at a detriment to performance. To address the need for real-time, low-cost timestamping, a versatile system which utilizes readily-available components and established methods for synchronization is introduced. The synchronization and triggering (of both high- and low-rate sensors) capabilities of the system are demonstrated.
@article{arxiv.2507.05717,
title = {Simultaneous Triggering and Synchronization of Sensors and Onboard Computers},
author = {Morten Nissov and Nikhil Khedekar and Kostas Alexis},
journal= {arXiv preprint arXiv:2507.05717},
year = {2025}
}