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SICKAG / sick_safetyscanners

ROS driver for SICK safety laser scanners
https://www.sick.com/de/en/opto-electronic-protective-devices/safety-laser-scanners/c/g187225
Apache License 2.0
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time_increment issue #99

Closed yifeilang closed 2 years ago

yifeilang commented 2 years ago

Hi, We are seeing a discrepancy between header.time_increment and our own calculated result. From scan.header, we could know the scan time of each frame is 0.02999 sec, and we have 1651 scan points each frame. Therefore, the time increment between adjacent points should be 0.02999 / 1651 = 1.8165e-5. We got a different time_increment value from scan header, 1.4000e-5. Could you help me figure out what cause the difference?

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lenpuc commented 2 years ago

Hi, since both the time_increment and the scan_time are directly taken from the sensor output I am not sure where the error resides. There is no additional handling of the times except transforming them from microseconds to seconds.

lenpuc commented 2 years ago

Closing, feel free to reopen if new insights are gained