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carla-simulator / ros-bridge

ROS bridge for CARLA Simulator
MIT License
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Incomplete lidar points cloud when sensor_tick doesn't match simulation frequency #680

Open Paul-Nico opened 1 year ago

Paul-Nico commented 1 year ago

Hello, I noticed a bug on the lidar sensor : if simulation frequency is higher than lidar frequency, the published lidar point cloud will only contains data produced on the last simulation tick, and will then be incomplete. I have written a simple fix for that, which stack the produced lidar data when the simulation ticks and publish the whole packet when the sensors ticks. I would be happy to do a pull request if possible. Best regards, Paul

oliver-schumann commented 2 months ago

Thank you for this branch! I stumbled over this problem some months ago and you just made my day! I also ported it to the semantic lidar. Works like a charm :)

Paul-Nico commented 2 months ago

Thank you for this branch! I stumbled over this problem some months ago and you just made my day! I also ported it to the semantic lidar. Works like a charm :)

Glad this helped :)