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RoboSense-LiDAR / rslidar_sdk

RoboSense LiDAR SDK for ROS & ROS2
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rslidar_points订阅导致队列溢满 #121

Open Terrensou opened 1 year ago

Terrensou commented 1 year ago

SDK版本1.5.10，硬件HELIO 5515 在ROS2 Humble ，写了一个简单的订阅者模块，回调函数中没有任何操作。

sub_novel = this->create_subscription<sensor_msgs::msg::PointCloud2>("rslidar_points", 10, std::bind(&PclSub::topic_callback, this, std::placeholders::_1));

运行后会导致队列拥塞，rslidar_points丢帧 Screenshot from 2023-05-25 21-45-47

Terrensou commented 1 year ago

初步实验，在config中driver 配置 dense_points: true会有所缓解

JTShuai commented 7 months ago

蹲个后续