Remove transmission delay param as this shouldn't be necessary anymore.

docs/usage.md

@@ -27,11 +27,9 @@ The node accepts the following parameters:
 - `body_tracking_smoothing_factor` (float) : Defaults to `0.0`. Controls the temporal smoothing across frames. Set between `0` for no smoothing and `1` for full smoothing. Less smoothing will increase the responsiveness of the detected skeletons but will cause more positional and oriantational jitters.
 - `rescale_ir_to_mono8` (bool) : Defaults to `false`. Whether to rescale the IR image to an 8-bit monochrome image for visualization and further processing. A scaling factor (`ir_mono8_scaling_factor`) is applied.
 - `ir_mono8_scaling_factor` (float) : Defaults to `1.0`. Scaling factor to apply when converting IR to mono8 (see rescale_ir_to_mono8). If using illumination, use the value 0.5-1. If using passive IR, use 10.
-- `imu_rate_target` (int) : Defaults to `0`. Controls the desired IMU message rate, which is rounded to the closest allowable value.  IMU samples from the device are integrated and a mean sample is published at this rate. A value of `0` is interpreted to mean a request for the maximum rate from the sensor (approx. 1.6 kHz).
+- `imu_rate_target` (int) : Defaults to `0`. Controls the desired IMU message rate, which is rounded to the closest allowable value.  IMU samples from the device are integrated and a mean sample is published at this rate. A value of `0` is interpreted to mean a request for the maximum rate from the sensor (approx. 1.6 kHz).  
 - `wired_sync_mode` (int) : Defaults to `0`. Sets the external wired synchronization mode. The modes are: `0: OFF (STANDALONE)`, `1: MASTER`, `2: SUBORDINATE`.
 - `subordinate_delay_off_master_usec` (int) : Defaults to `0`. Delay subordinate camera off master camera by specified amount in usec. Recommended minimum value is 160.
-- `usb_tramission_delay_sec` (float) : Defaults to `0.0f`. Estimated USB transmission delay (i.e., between exposure and arrival at the USB bus) in seconds. Applied to image and IMU timestamps.
-
 #### Parameter Restrictions
 
 Some parameters are incompatible with each other. The ROS node attempts to detect incompatible parameters and provide a runtime error to roserr: however, not all potential incompatibilities have been accounted for. In these instances, the Azure Kinect Sensor SDK may throw an exception.

include/azure_kinect_ros_driver/k4a_ros_device_params.h

@@ -77,11 +77,7 @@
               int, 0)                                                                                                  \
   LIST_ENTRY(subordinate_delay_off_master_usec,                                                                        \
               "Delay subordinate camera off master camera by specified amount in usec.",                               \
-              int, 0)                                                                                                  \
-  LIST_ENTRY(usb_tramission_delay_sec,                                                                                 \
-              "Estimated USB transmission delay (i.e., between exposure and arrival at the USB bus) in seconds."       \
-              "Applied to image and IMU timestamps.",                                                                  \
-              float, 0.0f)
+              int, 0)
 
 class K4AROSDeviceParams
 {