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astuff / ibeo_core

Core library for ROS drivers for Ibeo products
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uncertain bug of ibeo_core.cpp #14

Closed zhipengak closed 4 years ago

zhipengak commented 5 years ago

Here is the issue list:

  1. The data type 0x2806 is not little endian format but big endian format. In your source code: https://github.com/astuff/ibeo_core/blob/master/src/ibeo_core.cpp The function "read_le" should be replace by "read_de". 图片

  2. Check the line1623 in the same picture, there is no "cross acceleration" in this this 0x2806 message.

  3. The offset number from line1619 to line1624 is mistake.

Regarding to issue 2 and issue 3, you can check the ration from source code to the page 49 of ibeo document "9500028_Ibeo Interface Specification_Customer Documentation_v1.48.2.pdf" below, it can provide my points. 图片

zhipengak commented 5 years ago

Complement explanation of the issue 1: The reason I think it is big endian is I also check the ibeo SDK from ibeo official. 图片 They use function "readBE" in parse this massage.

JWhitleyWork commented 5 years ago

@zhipengak - I am sorry that it took us quite a while to get back to you. Could you possibly create a Pull Request to implement this change?

zhipengak commented 5 years ago

@zhipengak - I am sorry that it took us quite a while to get back to you. Could you possibly create a Pull Request to implement this change?

But I saw there is no change of "read_le", it is still "read_be" like before. Am I wrong about it?