Is UDP supposed to work? about pf_lidar_ros_driver

[hsd-dev]

It is most probably an issue with incorrect calculation of time_increment. Can you test it with 0ee0024?

[maxlein]

Yes, that fixed it! Thanks for fast support.

[hsd-dev]

Hi, are you using R2000? UDP for R2000 is not tested yet. Is this a blocking issue for you?

[maxlein]

Well, we are comparing the sick microscan against the r2000.
And I see some time delay as you can see on the gif: (the slow downs are from this gif recorder...)

btw: it may occurred to you that r2000 has a quite high noise in comparison to the microscan.
Do you have any suggestions for configuring the r2000 for localization tasks?

[hsd-dev]

And I see some time delay as you can see on the gif: (the slow downs are from this gif recorder...)

To clarify, the delay is not observed because of the driver, right?

it may occurred to you that r2000 has a quite high noise in comparison to the microscan.

I have not tested SICK scanner you mentioned, so I cannot compare. Can you check if you get the same noise if you use the Windows software for Pepperl+Fuchs?

[maxlein]

No, the delay is somewhere in the line from scanner to rviz.
I was just referring to the gif not displaying smoothly.

Something is buffering up, because after a restart of the driver the delay is gone but increases again as time is passing.

Yes, I have the same noise on Windows.