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Livox-SDK / livox_ros2_driver

Livox device driver under Ros2, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
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add `offset_time` field for pointcloud2 msg #16

Open MerdanBay opened 2 years ago

MerdanBay commented 2 years ago

Since point time stamp is coming handy in most of algorithms, is there any reason we don't publish pointcloud2 msg with offset_time extended field, shown as follow. if i remember correctly someone already did this in ros1 driver for lddc.cpp

  cloud.fields[6].offset = 18;
  cloud.fields[6].name = "offset_time";
  cloud.fields[6].count = 1;
  cloud.fields[6].datatype = sensor_msgs::msg::PointField::UINT32;

https://github.com/Livox-SDK/livox_ros2_driver/blob/91881bb90a16fbb7734e235e22625c878f0b843a/livox_ros2_driver/livox_ros2_driver/lddc.cpp#L106 if this is considerable, i don't might to do a PR.