Pointcloud2 timestamp assignment

[JeffR1992]

I just had a question about how timestamps are assigned to the header in Pointcloud2 messages. Are they assigned using the timestamps produced by the Ouster device (e.g. the time when the scan starts or ends), or by ROS2 when it receives the point cloud (e.g. using something similar to the ROS1 function ros::Time::Now()), or is there a different way that timestamps are assigned?

Any help would be appreciated. Thanks very much.

[SteveMacenski]

See the readme: https://github.com/ros-drivers/ros2_ouster_drivers#timestamp-modes