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PepperlFuchs / pf_lidar_ros_driver

ROS driver for Pepperl+Fuchs R2000 and R2300 laser scanners
https://www.pepperl-fuchs.com/global/en/23097.htm
Apache License 2.0
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about the cpu #113

Closed dlutjwh closed 1 year ago

dlutjwh commented 1 year ago

i transplant the code to ros2 and run successfully. with the main branch, i set 15Hz, but the average cpu is 7%(single core), comparing with https://github.com/dillenberger/pepperl_fuchs,whose cpu is about 3%, on the same robot。are there any optimized point for cpu? thanks。

hsd-dev commented 1 year ago

i transplant the code to ros2 and run successfully

What do you mean? Were you able to run the ROS 2 version?

dlutjwh commented 1 year ago

yes, the origin code of branch ros2 canot run,so i changed some code. now it can run on ros2。thanks sincerely。but the cpu is a little higher than https://github.com/dillenberger/pepperl_fuchs](https://github.com/dillenberger/pepperl_fuchs, which we also translant to ros2。maybe the new repository is also higher on ros1, where i have not tested. so what is the average cpu of r2000 on ros1 with single core?

hsd-dev commented 1 year ago

yes, the origin code of branch ros2 canot run,so i changed some code. now it can run on ros2

Do you mean you made changes to https://github.com/PepperlFuchs/pf_lidar_ros_driver/tree/porting-ros2 ? Can you create a pull request to the porting-ros2 branch so that I can take a look?

dlutjwh commented 1 year ago

sure,but now there are some problems with the laser data，after i solve it，i will try to create a pull request.

hsd-dev commented 1 year ago

you can create a PR with "WIP" (work-in-progress) in the title. I can help with solving the problems with the laser data.

dlutjwh commented 1 year ago

i have create a PR，but there is some error with the data. detail in https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/114