is there any reference for vlp_common.h?

[petersong1905]

thx for your transcendent work!

but i don't konw the following concept, is there any paper or document ?

1. float vert_correction[16] // is it the tan of corresponding scan_mapping_16[]?

2. there 're two void unpack_scan() reload in VelodyneCorrection,is velodyne_msgs::VelodyneScan::ConstPtr more accurate than sensor_msgs::PointCloud2::ConstPtr ?

thanks you so much!

[icameling]

• I think your questions could be summarized into one question, that is, how to accurately get the timestamp of each lidar point.

• For Velodyne-16, you could refer to it's user manual (choose Puck Manual). Here is a snap from chapter 9 of that user manual and it coincides with the code. Note that, the timestamps of Velodyne messages velodyne_msgs::VelodyneScan::ConstPtr have been preprocessed according to the hardware time synchronization flag.

• Additionally, the second unpack_scan function is for simulation data.

[petersong1905]

@icameling thanks for your advices. i found full_firing_cycle and single_firing in following github ,and it works now. https://github.com/ros-drivers/velodyne