Open simulacrus opened 3 years ago
did you change split_frame_mode
to 2 or 3?
armin.mu@robosense.cn
Can this issue be closed?
I'm trying to configure rslidar_sdk with split_frame_mode =2. Result ... rs16.zip
Lidar scan looks same with spilit_frame_mode = 3 and num_pkts_split = 37. If I set num_pkts_split > 38 then i have oversize pointcloud
I'm trying to configure rslidar_sdk with split_frame_mode =2. Result ... rs16.zip
Lidar scan looks same with spilit_frame_mode = 3 and num_pkts_split = 37. If I set num_pkts_split > 38 then i have oversize pointcloud
emm, I mean you need to set split_frame_mode to 1, default is 1.
If split frame by cut angle, driver will split frames when it finds lidar step over cut_angle. This guarantees no periodically disappearing part of points.
If split frame by number of packets, unstable speed will lead to a periodically disappearing part of points
I'm trying to configure rslidar_sdk with split_frame_mode =2. Result ... rs16.zip Lidar scan looks same with spilit_frame_mode = 3 and num_pkts_split = 37. If I set num_pkts_split > 38 then i have oversize pointcloud
emm, I mean you need to set split_frame_mode to 1, default is 1.
If split frame by cut angle, driver will split frames when it finds lidar step over cut_angle. This guarantees no periodically disappearing part of points.
If split frame by number of packets, unstable speed will lead to a periodically disappearing part of points
Initially, I used the default parameters. I also debugged the driver and saw that scans are periodically compiled from 37 to 38 packages. Maybe this is the problem
I've the same problem with ROS2 and M1. Have you any solutions?
@HaoQChen
I've the same problem with ROS2 and M1. Have you any solutions?
@HaoQChen
Did you try split_frame_mode?
Did you try ROS1?
The environment of your computer?
I've the same problem with ROS2 and M1. Have you any solutions? @HaoQChen
Did you try split_frame_mode?
Did you try ROS1?
The environment of your computer?
Hello, I have same problem with RS-M1-B2 as @simulacrus shows. I'm using about the latest version of your SDK and the enviorment is Ubuntu 18.04 with ROS eloquent. How can I solve the problem? Waiting for your reply, thank you.
I've the same problem with ROS2 and M1. Have you any solutions? @HaoQChen
Did you try split_frame_mode? Did you try ROS1? The environment of your computer?
Hello, I have same problem with RS-M1-B2 as @simulacrus shows. I'm using about the latest version of your SDK and the enviorment is Ubuntu 18.04 with ROS eloquent. How can I solve the problem? Waiting for your reply, thank you.
rs_driver
does not support B2, you need to use ros_rslidar
Configuration rslidar_sdk
lidar:
top lidr info
False-- Use the system clock as the timestamp
ros: ros_recv_packet_topic: /rslidar_top_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_top_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_top/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to
left lidar info
False-- Use the system clock as the timestamp
ros: ros_recv_packet_topic: /rslidar_left_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_left_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_left/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to
right lidar info
False-- Use the system clock as the timestamp
ros: ros_recv_packet_topic: /rslidar_right_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_right_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_right/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to
front lidar info
driver: lidar_type: RSM1 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS frame_id: /lidar_front #Frame id of message msop_port: 6699 #Msop port of lidar difop_port: 7788 #Difop port of lidar start_angle: 0 #Start angle of point cloud end_angle: 360 #End angle of point cloud min_distance: 0.2 #Minimum distance of point cloud max_distance: 200 #Maximum distance of point cloud use_lidar_clock: false #True--Use the lidar clock as the message timestamp
False-- Use the system clock as the timestamp
ros: ros_recv_packet_topic: /rslidar_front_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_front_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_front/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to
RS-16
After
roslaunch rslidar_sdk start.launch
and opening rviz i was confusing by periodically disappearing part of points.(View 1.pcd, 2.pcd, 1.png, 2.png).
1.pcd
2.pcd
Interesting that RSView show scans correctly
RS m1
There is some problem with correcting reading poins from RS MEMS by rslidar_sdk
3.pcd
RSView show correcting scans