search

dillenberger / pepperl_fuchs

Pepperl+Fuchs R2000 Driver
http://wiki.ros.org/pepperl_fuchs_r2000
BSD 3-Clause "New" or "Revised" License
54 stars 56 forks source link

Latency issue #5

Open doisyg opened 6 years ago

doisyg commented 6 years ago

Hi, thanks for this driver. Overall it is working well. However I am having a latency issue which is causing some problem for robot navigation. I can see that there is a delay between the measurements and the time ROS receive them (with rviz). I tried with different frequency and samples_per_scan settings. This is not due to the ethernet com as I can ping the ip of the lidar and get a 0.30 ms delay. Any idea where this is coming from? Is this delay fixed? Any clue of how to integrate it in the driver?

doisyg commented 6 years ago

Added a very simple latency compensation with an offset: https://github.com/dillenberger/pepperl_fuchs/pull/6 Empirically = to 0.1s on my config. It would be nice to trace its origin/reduce it/ determine during a proper calibration procdedure what is its real value.