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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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Data Update Delay Issue When Monitoring `/r2000_node/scan` Topic #128

Open Kyros8712 opened 4 weeks ago

Kyros8712 commented 4 weeks ago

When monitoring the /r2000_node/scan topic, we observed data update issues. Here are the details:

Operating System: Ubuntu 20.04 ROS: Noetic P+F Driver Version: 1.2.2 R2000 Scan Frequency: 30 Hz R2000 Packet Type: C

  1. Created a ros::Timer running at 50 Hz to check the data update time of /r2000_node/scan. If the time difference exceeds 0.1 seconds, an exception is recorded.
  2. We found that the /r2000_node/scan topic has periods of 0.1 to 1.5 seconds without data being published.