Apparently the file was renamed, I found it here:
The description in sec 3.5 gives more details, but It did not clarify the issue I had with the three timestamps though.
In the software guide, they are called ”IMU read time”, ”accelerometer read time”, and ”gyroscope read time”. It also says that ”IMU read time” is monotonic system time since boot”, and that the other two will depend on what timestamping mode is used.
We would like to have IMU timestamps that are as close as possible to the sensor readout, and using the same clock as the Lidar timestamps. Is it sufficient to use the ”accelerometer read time” and the ”gyroscope read time” then? Or should we somehow use the ”IMU read time” to convert between the clocks? I also wonder if the timestamp_mode setting is important also for the internal Lidar-IMU sync, or is it only relevant when external sync is needed?