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SICKAG / sick_scan_xd

Based on the sick_scan drivers for ROS1, sick_scan_xd merges sick_scan, sick_scan2 and sick_scan_base repositories. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2).
Apache License 2.0
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Timestamp investigation for TiM5xx #71

Closed michael1309 closed 2 years ago

michael1309 commented 2 years ago

The time stamp assignment for the TiM5xx is to be investigated. If necessary, the time stamp should be selected to match the generation time of the scan.

rostest commented 2 years ago

Until now the timestamp generation mostly references to the timestamp of the transmit timestamp. By introducing a variable "use_generation_timestamp" one can decide using the generation timestamp as a reference timestamp.

rostest commented 2 years ago

Version 2.7.0 supports parameter "use_generation_timestamp":

<param name="use_generation_timestamp" type="bool" value="true"/> <!-- Use the lidar generation timestamp (true, default) or send timestamp (false) for the software pll converted message timestamp -->

By default, the generation timestamp of the lidarscan is converted to ros time and published. The transmit timestamp is used to adjust the software pll.