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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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Is UDP supposed to work? #2

Closed maxlein closed 4 years ago

maxlein commented 4 years ago

Hi,

I am trying out the driver and I can't get it to work over UDP.

First, there is a hardcoded udp address in pfsdp_protocol.hpp.
Then at least parse_data() gets called but no scans are published...

TCP is working.

hsd-dev commented 4 years ago

Hi, are you using R2000? UDP for R2000 is not tested yet. Is this a blocking issue for you?

maxlein commented 4 years ago

Well, we are comparing the sick microscan against the r2000.
And I see some time delay as you can see on the gif: (the slow downs are from this gif recorder...)

microscan vs r2000

btw: it may occurred to you that r2000 has a quite high noise in comparison to the microscan.
Do you have any suggestions for configuring the r2000 for localization tasks?

hsd-dev commented 4 years ago

And I see some time delay as you can see on the gif: (the slow downs are from this gif recorder...)

To clarify, the delay is not observed because of the driver, right?

it may occurred to you that r2000 has a quite high noise in comparison to the microscan.

I have not tested SICK scanner you mentioned, so I cannot compare. Can you check if you get the same noise if you use the Windows software for Pepperl+Fuchs?

maxlein commented 4 years ago

No, the delay is somewhere in the line from scanner to rviz.
I was just referring to the gif not displaying smoothly.

Something is buffering up, because after a restart of the driver the delay is gone but increases again as time is passing.

Yes, I have the same noise on Windows.

hsd-dev commented 4 years ago

It is most probably an issue with incorrect calculation of time_increment. Can you test it with https://github.com/PepperlFuchs/ROS_driver/commit/0ee0024829ff4d0f6d27864ec84e2badb4b6aeec?

maxlein commented 4 years ago

Yes, that fixed it! Thanks for fast support.