Closed dlutjwh closed 2 years ago
The information you are looking for can be found in the following explanation:
In a nutshell: The lidars do not work with absolute time stamps but with "ticks". There are two types of tick timestamps:
With the help of this straight line equation, one can now calculate the system time at which the data is generated in the lidar.
Summary:
thanks for your apply for anwser for https://github.com/SICKAG/sick_scan_xd/issues/119#issue-1412769021, but i'm still confued for the code:
the code set the timestamp after accept the datagram, so why the time is not the timestamp of the last point ,since the timestamp of the last point is laster than the first point。(ROS2.0,Tim5XX ) By the way,what is the param use_generation_timestamp used for, does it effect the timestamp of /sensor_msgs/laser_scan? thanks sincerely.