Comments (5)
Hi,satoshimiya,
You can first synchcronize the lidar time with gps, the time of lidar is the absolute time after turning on.
from livox_ros_driver.
@satoshimiya, I had the same issue with the Livox and was wondering the same thing; Unlike while rosbag files which can publish the simulation clock using the --clock
flag, the Livox does not seem to publish into /clock. So how can this issue of livox old messages be resolved?
@Livox-SDK, if I do not have any other sensors along with the Livox (not even a GPS sensor), how can I synchronize Livox messages with the current ROS time?
I used a hacky work around to resolve the issue. I created a node that subscribes to /livox/lidar
and /livox/imu
. Within the callback functions of each of the topics, I modify the incoming message's msg.header.stamp with the ros::Time::now()
or rospy.Time.now()
and publish it back into a different topic. I'm not sure if this follows ROS best practices but it seems to work for the isolated sensor of just the Livox.
from livox_ros_driver.
@RakVish1342 is it working for your method? I face the same problem. Does Livox can not show pointclouds in RViz with a static_tf_publisher or it can not work in our codes too?
from livox_ros_driver.
@gongyue666, I do not use the livox lidar any more. However, the technique that I had mentioned in the workaround should resolve your rviz visualization issue. In my workaround I write a subsrciber that subscribes to the /livox/lidar
and /livox/imu
topics. The subscriber add timestamps manually to the Header
of the messages using ros::Time::now()
. Then I re-publish those messages (now containing the manually added time stamps) to a new topic like /livox/lidar_new
and /livox/imu_new
. I record and visualize only the _new
topics. While playing back the rosbag file remember to use the --clock
flag to use the rosbag's sim_time
rather than the onboard/computer time.
from livox_ros_driver.
@RakVish1342 Thx very much~
from livox_ros_driver.
Related Issues (20)
- pps时间同步后,点云时间戳滞后于系统时间 HOT 1
- How to run Livox Avia and Livox MID 360 simultaneously. HOT 2
- Init lds lidar failed happened about once per 100 times.
- 点云数量过少,无论室内室外
- multi_topic:=true shows no difference HOT 1
- Unable to connect to Livox MID-70 using ROS launch files
- fast_lio /lasermapping client error #livox_ros_driver/CustomMsg
- lvx file to rosbag error
- 安装ROS驱动时提示,请先安装Livox-SDK,但是我雷达是mid-360,已经安装了Livox-SDK2,请问应该怎么解决 HOT 1
- LIVOX AVIA 激光时间戳出错,imu发送逻辑问题(livox/lidar timestamp error and the publish logic of imu is weird) HOT 5
- LIVOX MID-360 not able to detect plzz help!!! HOT 23
- Communication between coral dev board and the px4
- ubuntu18.04 mid-360 ROS,not error,not data out,plzz,help!!!!!!!!!!!! HOT 1
- Need help (error while running the samples) HOT 1
- gpspps LidarSetRmcSyncTime is OK,But timestamp_type is 0。
- Question: Resetting the mid-70 ros2 driver node
- Merging with Velodyne VLP-16 on ROS2
- [ERROR] [1713941763.717755465]: Init lds lvx file fail!
- Loss of points/data packages (aka) Jumps in timestamps between frames
- Help! Confusion regarding roslaunch livox_ros_driver livox_lidar.launch
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from livox_ros_driver.