ROS Message per point instead of one revolution

RoboSense-LiDAR / ros_rslidar

ROS drvier for RS-LiDAR-16 and RS-LiDAR-32

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ROS Message per point instead of one revolution #30

Closed donrv closed 4 years ago

donrv commented 5 years ago

Hi, Is there any setting to output ROS pointcloud2 message per point instead of per revolution? Currently, my RS16 is set to 600 RPM and getting 10 Messages per second. I want to read messages in realtime instead of accumulating per revolution.

HaoQChen commented 5 years ago

Hi, Is there any setting to output ROS pointcloud2 message per point instead of per revolution? Currently, my RS16 is set to 600 RPM and getting 10 Messages per second. I want to read messages in realtime instead of accumulating per revolution.

maybe you can change config_.npackets in rslidarDriver::poll from rsdriver.cpp. This will change the package number of each scan

donrv commented 5 years ago

@HaoQChen Thank you, Got it