anfederman
commented
2 years ago I am uncertain why data coming over ethernet would be out of sync with data over USB. Don't they both get processed in the same hardware chip? Are there some sort of filters or avengers that sample the Lidar data (say over 3 measurements) and then 'predict' what the signal should be?
On Tue, Jan 11, 2022 at 9:15 AM MoffKalast @.***> wrote:
Hard to say what but there is something weird with the timestamps and data coming out of the LS lidar driver, and it needs to be looked into.
Anecdotal evidence:
- avalon claims the sick lidar outperforms the ls lidar despite obvious hardware shortcomings
- odd occurences where lama cannot provide a transform
- odd occurences where lidar data cannot be transformed into /map frame
- lidar timings sometimes being set a few ms in the future
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MoffKalast
Hard to say what but there is something weird with the timestamps and data coming out of the LS lidar driver, and it needs to be looked into.
Anecdotal evidence: