search

pangfumin / lms511_laser

A modified lms511 driver
6 stars 4 forks source link

The publishing rate of topic /scan is 1.6Hz（too low）with the laser driver #2

Open ZHANGZHERUI opened 7 years ago

ZHANGZHERUI commented 7 years ago

Thank you very much for provide this laser driver. I have a problem by using it: the publishing rate of topic /scan is always 1.6Hz. It's too low to make a SLAM project. I can't find the reason ,and don't how to change the rate. I hope you can give me some guidance. Thank you very much. There are a screen shot and my launch file. 2017-06-02 00 02 53 2017-06-02 00 05 34

weisongwen commented 7 years ago

Hi, @ZHANGZHERUI ,

This way, you should configure the parameters of the SICK lidar.

By the way, what is the type of your SICK lidar?

ZHANGZHERUI commented 7 years ago

Hi, @weisongwen, Thank you very much for reply. Could you tell me how to configure the parameters of SICK lidar to improve the update data rate.(in Windows or in Linux?). ef23fc1669c1df5ced9fe854e340cdae

ZHANGZHERUI commented 7 years ago

@weisongwen I have set some basic parameters in windows. It look normal in windows ,But in ROS, the publishing rate didn't change. What's more, I cant' change the freq and res of lidar in ROS, no mater what I set in Windows, the freq and res is always 50 ,50. If I change ''sick_lms.SetSickScanFreqAndRes(SickLMS5xx::SICK_LMS_5XX_SCAN_FREQ_50, SickLMS5xx::SICK_LMS_5XX_SCAN_RES_50);'' this word in , system will report errors as shown. This problem make me very confused , really hope you can help me. 0831d40c4568bfd0d45a253e0a2d5710 530034dfab521afb49cc65a55b66595f

weisongwen commented 7 years ago

Hi, @ZHANGZHERUI

In terms of the Sick LMS511 lidar, there was not any stable version of drivers for it except for this node.

in terms of your issue, I did not encountered before, but I have some suggestions for this issue:

  1. Now that the frequecny is 50hz, but the topic /scan was published with the frequency of 1.6hz, this way I think that the node may be not right. I also launched a question here. if possible , try to find other drivers packages for this lidar.

  2. is the frequency right in windows ?

ZHANGZHERUI commented 7 years ago

Hi, @weisongwen. Thank you for suggestions. I have solve my problem. It's about a parameter setting in Windows. Thank you very much.