Time is out of dual 32-bit range when using PandarQT

[alperk-cvml]

Time is out of dual 32-bit range when using PandarQT

I captured successfully with Pandar 40P however I'm receiving an exception when using PandarQT LIDAR.

roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarQT" 

    started roslaunch server http://developmentenv:34601/

SUMMARY
========

PARAMETERS
 * /hesai_lidar/gps_port: 10110
 * /hesai_lidar/lidar_correction_file: /home/...
 * /hesai_lidar/lidar_recv_port: 2368
 * /hesai_lidar/lidar_type: PandarQT
 * /hesai_lidar/pcldata_type: 0
 * /hesai_lidar/server_ip: 192.168.2.201
 * /hesai_lidar/start_angle: 0.0
 * /rosdistro: melodic
 * /rosversion: 1.14.6

NODES
  /
    hesai_lidar (hesai_lidar/hesai_lidar_node)

ROS_MASTER_URI=http://developmentenv:11311/

process[hesai_lidar-1]: started with pid [11672]
TCP Command Client Init Success!!!
Parse Lidar Correction...
Parse Lidar Correction Success!!!
terminate called after throwing an instance of 'std::runtime_error'
  what():  Time is out of dual 32-bit range

Setup

• OS: Ubuntu 18.04

• ROS Version: Melodic

• Hardware: PandarQT

• The device is directly connected to the host with an ethernet cable.

• The difference from Pandar40P is that the time source is selected as PTP in PandarQT, as opposed to GPS in Pandar40P.

What I Tried

• I created a PTP server on my host device using ptpd and provided a clock source to the PandarQT.
• In the main page of PandarQT However PTP lock ofset is not very stable.

[alperk-cvml]

The issue seems to be solved with commit 674d8973233b121b2cfe965548b5c55bc2594884