Fix timestamp: subtract packet time instead of full scan time #125
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The previous timestamp patch in PR PepperlFuchs#104 subtracted the full scan time from the last point time of the _first_ packet to determine the scan timestamp. It has to be the time for a single packet instead. Otherwise, the timestamp is too far in the past. This is especially noticeable when the scan frequency is in a lower range like 10Hz, i.e. the scan timestamp would be 100ms off compared to other sensor modalities.
MichaelGrupp
commented
May 10, 2024
| @@ -68,11 +68,16 @@ void PFDataPublisher::to_msg_queue(T& packet, uint16_t layer_idx, int layer_incl | |||
| msg->header.frame_id.assign(frame_id_); | |||
| msg->header.seq = packet.header.header.scan_number; | |||
| msg->scan_time = static_cast<float>(scan_time.toSec()); | |||
| msg->header.stamp = packet.last_acquired_point_stamp - scan_time; | |||
| msg->angle_increment = packet.header.angular_increment / 10000.0 * (M_PI / 180.0); | |||
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| { | |||
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off-topic: why is this part in its own scope?
MichaelGrupp
added a commit
to magazino/pf_lidar_ros_driver
that referenced
this pull request
May 22, 2024
This is almost the same as the patch for master, but the timestamping has changed between these versions (and both are wrong). Patch for master: PepperlFuchs#125
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The previous timestamp patch in PR #104 subtracted the full scan time from the last point time of the first packet to determine the scan timestamp.
It has to be the time for a single packet instead. Otherwise, the timestamp is too far in the past.
This is especially noticeable when the scan frequency is in a lower range like 10Hz, i.e. the scan timestamp would be 100ms off compared to other sensor modalities.