Open nsteve2407 opened 1 month ago
Recorded a ros2 bag with the robosense driver config set to the following
common: msg_source: 1 send_packet_ros: true send_point_cloud_ros: false send_packet_proto: false send_point_cloud_proto: false lidar: - driver: lidar_type: RSBP msop_port: X difop_port: X start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false host_address: X.X.X.X ros: ros_frame_id: lidar ros_recv_packet_topic: /robosense/lidar/packets ros_send_packet_topic: /robosense/lidar/packets ros_send_point_cloud_topic: /robosense/lidar/points
When I try to playback the packet data in the bag file I used the following config:
common: msg_source: 2 send_packet_ros: false send_point_cloud_ros: true send_packet_proto: false send_point_cloud_proto: false lidar: - driver: lidar_type: RSBP msop_port: X difop_port: X start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false host_address: X.X.X.X ros: ros_frame_id: lidar ros_recv_packet_topic: /robosense/lidar/packets ros_send_packet_topic: /robosense/lidar/packets ros_send_point_cloud_topic: /robosense/lidar/points
During playback I see the node /rslidar_packets_source_0 subscribing to the /robosense/lidar/packets but no data is published to the /robosense/lidar/points topic. Maybe similar to issue https://github.com/RoboSense-LiDAR/rslidar_sdk/issues/112
/rslidar_packets_source_0
/robosense/lidar/packets
/robosense/lidar/points
What
Recorded a ros2 bag with the robosense driver config set to the following
When I try to playback the packet data in the bag file I used the following config:
During playback I see the node
/rslidar_packets_source_0
subscribing to the/robosense/lidar/packets
but no data is published to the/robosense/lidar/points
topic. Maybe similar to issue https://github.com/RoboSense-LiDAR/rslidar_sdk/issues/112