Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Additional lidar_handler to set the timestamp of the pointcloud from specific rotation angle #73

Open
wants to merge 2 commits into
base: master
Choose a base branch
from

Conversation

PhilippSchmaelzle
Copy link
Contributor

@PhilippSchmaelzle PhilippSchmaelzle commented Mar 3, 2023

Related Issues & PRs

Summary of Changes

I added an additional lidar_handler which enables the user to precisely set the point cloud time stamp to a specific rotation angle (within configured azimuth range).

This helps if one would like to sync a camera with the LiDAR.
E.g. If the camera is triggered at 270deg of LiDAR rotation. The user could now set time_reference_angle:=270.0 and the published point cloud will be stamped with the time when it swiped the 270° and hence exactly when the camera was triggered.

In combination with phase_lock this is quite handy. Comparable to an issue within the velodyne driver: ros-drivers/velodyne#242

Validation

I tested it with an OS0-128 with FW 2.4
If an azimuth range is configured and the user provided time_reference_angle is out of range it will fall back to the default driver behavior.

I hope you see the benefit this provides for many real life applications.
Looking forward to discuss 😃

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

1 participant