From 9b4ac0b7da3a88864f04a6ae0c572eca294ae9a3 Mon Sep 17 00:00:00 2001
From: DavidHu <hmd@ldrobot.com>
Date: Tue, 1 Mar 2022 15:24:09 +0800
Subject: [PATCH] =?UTF-8?q?[update]1.=E4=BF=AE=E5=A4=8D=E8=A7=A3=E5=8C=85?=
 =?UTF-8?q?=E4=B8=AD=E5=8E=BB=E6=8E=89=E5=BC=82=E5=B8=B8=E5=8C=85=E4=B8=AD?=
 =?UTF-8?q?=E7=9A=84=E6=BD=9C=E5=9C=A8bug;=202.=20=E6=9B=B4=E6=96=B0README?=
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---
 README.md     | 2 +-
 src/lipkg.cpp | 4 ++--
 src/main.cpp  | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 3583c6e..3631b0f 100644
--- a/README.md
+++ b/README.md
@@ -148,7 +148,7 @@ source devel/setup.bash
 
 > The code was tested under ubuntu16.04 ROS kinetic、ubuntu18.04 ROS melodic、ubuntu20.04 ROS noetic, using rviz visualization.
 
-- new a terminal (Ctrl + Alt + T) and use Rviz2 tool,open the `ldlidar.rviz` file below the rviz folder of the readme file directory
+- new a terminal (Ctrl + Alt + T) and use Rviz tool,open the `ldlidar.rviz` file below the rviz folder of the readme file directory
 ```bash
 rosrun rviz rviz
 ```
diff --git a/src/lipkg.cpp b/src/lipkg.cpp
index abb5695..8d010a5 100644
--- a/src/lipkg.cpp
+++ b/src/lipkg.cpp
@@ -126,7 +126,7 @@ bool LiPkg::Parse(const uint8_t *data, long len) {
     if (AnalysisOne(data[i])) {
       // parse a package is success
       double diff = (pkg.end_angle / 100 - pkg.start_angle / 100 + 360) % 360;
-      if (diff > (double)pkg.speed * POINT_PER_PACK / 2300 * 3 / 2) {
+      if (diff > (double)pkg.speed * POINT_PER_PACK / kPointFrequence * 3 / 2) {
         error_times_++;
       } else {
         speed_ = pkg.speed; // Degrees per second
@@ -210,7 +210,7 @@ void LiPkg::ToLaserscan(std::vector<PointData> src) {
   angle_max = ANGLE_TO_RADIAN(src.back().angle);
   range_min = 0.02;
   range_max = 12;
-  angle_increment = ANGLE_TO_RADIAN(speed_ / 4500);
+  angle_increment = ANGLE_TO_RADIAN(speed_ / kPointFrequence);
   static uint16_t last_times_stamp = 0;
   uint16_t dealt_times_stamp = 0;
   uint16_t tmp_times_stamp = GetTimestamp();
diff --git a/src/main.cpp b/src/main.cpp
index 1502cb8..051b66c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -42,7 +42,7 @@ int main(int argc, char **argv) {
 	n.getParam("port_name", port_name);
 	n.getParam("frame_id", frame_id);
   
-  ROS_INFO("[ldrobot] SDK Pack Version is v2.2.4");
+  ROS_INFO("[ldrobot] SDK Pack Version is v2.2.5");
   ROS_INFO("[ldrobot] <product_name>: %s,<topic_name>: %s,<port_name>: %s,<frame_id>: %s", 
     product_name.c_str(), topic_name.c_str(), port_name.c_str(), frame_id.c_str());