Incorrect time-stamp in slam /odom topic

[mmoore13]

Running roslaunch realsense_ros_slam demo_slam.launch and rostopic echo /odom displays messages with the following header format:

---
header: 
  seq: 813
  stamp: 
    secs: 186413771
    nsecs:         0
  frame_id: odom

The time-stamp here is not as expected.

Changing

realsense_samples_ros/realsense_ros_slam/src/slam_nodelet.cpp

Line 399 in 9e98473

odom.header.stamp = ros::Time(feTimeStamp);

to

odom.header.stamp = ros::Time(feTimeStamp / 1000);

seems to resolve the issue, yielding:

---
header: 
  seq: 102
  stamp: 
    secs: 1503427819
    nsecs: 480166912
  frame_id: odom

Line 380 looks like it should also be changed in the same way.

[dashneptune]

It would be nice if this could get fixed, this was causing calls to Time::now to get out of range of 32 bit for me and was causing the SLAM demo to fail