Noteable jitter has been observed in processing the incoming LiDAR and IMU data when the hardware is run in 2048x10 and 1024x20 LiDAR modes. Increasing the rate at which the driver polls the incoming sockets for new data appears to resolve the problem with minimal structural changes to the software architecture of the driver. CPU utilization was profiled on a quad core (hyperthreaded) i7, and the affect seems both minimal and tolerable. No CPU profiling as been done on an embedded ARM device.
Noteable jitter has been observed in processing the incoming LiDAR and IMU data when the hardware is run in
2048x10and1024x20LiDAR modes. Increasing the rate at which the driver polls the incoming sockets for new data appears to resolve the problem with minimal structural changes to the software architecture of the driver. CPU utilization was profiled on a quad core (hyperthreaded) i7, and the affect seems both minimal and tolerable. No CPU profiling as been done on an embedded ARM device.Closes #55