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ros-drivers / omron

ROS driver for OMRON OS32C laser scanner.
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Support 25Hz data read #11

Closed jumarini closed 5 years ago

jumarini commented 8 years ago

Thanks for your work on the Omron interface. My team is evaluating the viability of the OS32C for use in commercial indoor navigation.

We're only getting 12.9Hz, which seems to coincide with the 80ms dual-scan response time of the safety-rated outputs. Since a single scan only takes 40ms, can the driver publish the data at the advertised 25Hz rate? It would make navigation far more successful.

timethy commented 6 years ago

Hey @jumarini did you end up using the full 25 Hz rate?

parthc-rob commented 6 years ago

+1 It'd be great if you could give an update @jumarini

timethy commented 6 years ago

I actually managed to get the 25 Hz out, let me dig up my code and push if you are interested

parthc-rob commented 6 years ago

@timethy That'd be great, thanks so much!

timethy commented 6 years ago

Dear @parthc-rob As it's been over half a year now, could you kindly check if my development branch https://github.com/timethy/omron/tree/devel/timethy helps?

I think it should be able to give you 25 Hz and slightly better precision as time-of-flight is given and conversion to range is done on the receiver side.

Also I think I reverted the angles because I think it was wrong, but maybe it was right, so please do check if it make sense.

If it works we can make a clean pull request into master.

timethy commented 6 years ago

I think the important lines [1] are these:

-  t_to_o.rpi = 0x00013070;
+  t_to_o.rpi = 40000; //0x00013070;

[1] https://github.com/ros-drivers/omron/compare/indigo-devel...timethy:devel/timethy#diff-9b8114ef90dc2ad6a4817210fcc60629L272

reinzor commented 5 years ago

Addressed in https://github.com/ros-drivers/omron/pull/18

reinzor commented 5 years ago

Covered by https://github.com/ros-drivers/omron/pull/24