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robopeak / rplidar_ros

BSD 2-Clause "Simplified" License
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[param]add param angle_compensate_multiple #82

Open kintzhao opened 5 years ago

kintzhao commented 5 years ago

Default angle_compensate_multiple(Running at 10HZ): 16K -- 4 8K -- 2 4K -- 1 angle_compensate_multiple is min(setting value, default value)

kerliang0801 commented 4 years ago

Hi! I've been diving into the code. Amazing work! Just came across this PR. Even though It's a bit old but correct me if I'm wrong, but would it be better to make the angle_compensate_multiple be a dynamic variable based on the node_counts returned by the sdk? This way, even if one would change the motor frequency (which will in turn change the number of node_counts), the dynamic multiplier can still be "smart" enough to allocate a large enough vector to represent the returned nodes in a distributed manner. For example, if my node_count returns around 700 nodes, then my multiplier will be 2 - or if my node_count returns 340, my multiplier will be 1. What do you think?