Comments (3)
Synchronized time or any other time sent by the device is completely different from ROS time. If you want to access the device's timestamp for any reason, I am publishing it on a topic /r2x00_header
. There you can view the entire header sent by the device.
According to the comment in the LaserScan
message, maybe a better suited place to use ros::Time::now()
would be here
from pf_lidar_ros_driver.
I agree that they are completely different timekeeping services and not only can they be offset, they can also drift apart. But still, if an algorithm is relying on precise timestamps (and for this reason fields like time_increment
and scan_time
exist), such usage of ros::time::Now()
can be detrimental.
An example of this, imagine the sensor traveling at a higher speed in a straight line, how much distance does it cover between acquiring first and last laser ray? Furthermore, how much additional distance did it travel until ros::time::Now()
was called and was assigned to the first ray? Sure, it depends on sensor velocity and scan frequency, but its effects are noticeable in some applications. (Edit: reasoning here is that you can later reliably deduce exact place and time along the trajectory at which each individual laser ray was measured at)
This is why I asked about a firmware update for a synchronized timestamp or some ROS side raw timestamp synchronization.
EDIT (real example): if you use cartographer SLAM with this driver (or other driver that also uses ros::Time::now()
), there is a lot of dropped points (hundreds) for every scan because of timestamp inaccuracy
from pf_lidar_ros_driver.
EDIT (real example): if you use cartographer SLAM with this driver (or other driver that also uses ros::Time::now()), there is a lot of dropped points (hundreds) for every scan because of timestamp inaccuracy
Hi, @stribor14 ,if you reduce the scan frequency, does the problem still there?
from pf_lidar_ros_driver.
Related Issues (20)
- unable to locate: pf_driver/PFDriverR2000Config.h and pf_driver/PFDriverR2300Config.h HOT 2
- /scan topic is published at 360+ hz HOT 3
- boost error HOT 14
- Impossible to terminate ros_main node cleanly. HOT 2
- protocol error: 120 Invalid handle or no handle provided HOT 13
- transplant to ros2 HOT 1
- which branch to use HOT 1
- still the transport:
- about the cpu HOT 6
- wrong or missiong data under high load HOT 3
- Unable to communicate with device HOT 5
- Qos HOT 2
- Segfault running the latest ROS2 driver HOT 15
- Restarting the node several times starts causing persistent protocol error HOT 8
- Connection failure is not handled in the case of empty http_error HOT 17
- Persistent protocol errors, probably not terminated socket HOT 1
- ROS2.0 driver HOT 1
- driver params HOT 1
- the time stamp of r2000
- UDP port not used - connection with firewall not possible HOT 5
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