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Slamtec / rplidar_ros

BSD 2-Clause "Simplified" License
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Lidar S1 does not produce data at 9.2kHz #48

Open marcelino-pensa opened 3 years ago

marcelino-pensa commented 3 years ago

According with the datasheet, the S1 unit should produce 9.2kHz with an angular resolution of 0.391 degrees. However, I am only getting 7.2kHz with a resolution of 0.5 degrees. The data is being published at 10hz, and each measurement comes with 720 points.

Example bags: unit.zip

Prints when launching S1 node with roslaunch rplidar_ros view_rplidar_s1.launch:

[ INFO] [1619049384.773555968]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
RPLIDAR S/N: 5D5DEAF2C5E19BCFC2E19FF5AA8F4509
[ INFO] [1619049385.278841246]: Firmware Ver: 1.28
[ INFO] [1619049385.278862929]: Hardware Rev: 18
[ INFO] [1619049385.279807334]: RPLidar health status : 0
[ INFO] [1619049385.346013526]: current scan mode: DenseBoost, max_distance: 40.0 m, Point number: 9.3K , angle_compensate: 2