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Livox-SDK / livox_ros_driver2

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
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Just curious about how the publishing frequency is implemented? #155

Open leoxiang66 opened 6 days ago

leoxiang66 commented 6 days ago

Hi I walk through the code for a while but I didn't find how the publishing frequency is implemented?

Anyone please help me thx!

georgflick commented 6 days ago

it's in the checkTimer function in pub_handler.cpp https://github.com/Livox-SDK/livox_ros_driver2/blob/6b9356cadf77084619ba406e6a0eb41163b08039/src/comm/pub_handler.cpp#L204