Closed michael1309 closed 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.
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.
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.