Open alonsollorente opened 1 month ago
@alonsollorente Thank you for updating the issue. This issue is related to https://github.com/Field-Robotics-Japan/UnitySensors/issues/156 (It is written in Japanese, but discussing same topic) The main reason of this problem comes from using Update() function. To fix this, we should use FixUpdate() function. https://github.com/Field-Robotics-Japan/UnitySensors/blob/master/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/RosMsgPublisher.cs#L39 https://github.com/Field-Robotics-Japan/UnitySensors/blob/master/Assets/UnitySensors/Runtime/Scripts/Sensors/IMU/IMUSensor.cs#L51
But, this problem is already fixed in develop
branch.
Thus, please try to use develop
branch.
Now, merging PR from develop
into master
is under development (https://github.com/Field-Robotics-Japan/UnitySensors/pull/163)
Hi!
Thank you for the fast answer. I checked that the Update() function in the LiDAR publisher case is the same in the develop
and master
branch. I don't know if maybe I'm approaching it wrong...
Furthermore, I tried the project in the develop
branch, and is still inconsistent in frequency for both sensors.
@alonsollorente
the Update() function in the LiDAR publisher case is the same in the
develop
.
Yes, you are right. It is still not fixed in develop
branch about LiDAR Publisher.
I tried the project in the develop branch, and is still inconsistent in frequency for both sensors.
About this, I need to find the reason why especially for IMU sensors. I think it takes a bit long time to fix. But if someone find the solution, comment it please.
Hi everyone!
I hope you can help me with this problem that I'm having. I'm trying to broadcast sensory data in ROS2 and going through some difficulties.
Thank you in advance for helping me out! I let you with a brief description of my problem.
Description of the bug There is an inconsistency in the publishing frequency of sensor data between ROS2 and Unity when using ros_tcp_endpoint. Despite setting the publishing rate to 10Hz for one LiDAR sensor and 100Hz for an IMU, the actual publishing rate observed is significantly lower and inconsistent, being in the case of the IMU around 35Hz. The
ros2 topic hz /imu
output can be seen:To Reproduce Steps to reproduce the behavior:
Environment set up: