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使用 pointcloud2 格式时 msg 的时间戳是输出发生时的时间还是数据解包的时间? #146

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lncopilot opened this issue Sep 4, 2024 · 1 comment

lncopilot commented Sep 4, 2024

timestamp 字段里的呢?

Collaborator

Livox-louie commented Sep 30, 2024

@lncopilot 如果雷达做了时间同步，这个时间戳应该是点云的生成时间，否则则为解包时间。具体可以参考代码：

livox_ros_driver2/src/comm/pub_handler.cpp

Line 143 in 6b9356c

packet.time_stamp = GetEthPacketTimestamp(data->time_type,

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