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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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Using the ros clock as timestamp #8

Open tigelbri opened 3 years ago

tigelbri commented 3 years ago

Hi,

is it possible to use the ros clock instead of the package timestamp for publishing or wouldnt it make sense to have the possibility for that?

Great Thanks is advance

Livox-SDK commented 3 years ago

Hi tigelbri,

It is possible, but we did not develop based on Ros clock Reason: The ros clock is based on the moment system receiving point cloud, it is easily to be effected by data transferring. Therefore, it has a very high chance to make the timestamp not precise and not even;(if lagging, a big amount of point cloud will be synchronizing at one moment ) I guess what you actually need is Lidar synchronizing with multiple sensors. I would suggest you synchronized the system time with ptp(1588)/gps time first. so that, all sensors will be synchronized to the same clock