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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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Velodyne output does not contain full pointcloud #395

Open osholsonel20 opened 3 years ago

osholsonel20 commented 3 years ago

Device: HDL64_ES2 OS: Ubuntu 20.04

Device RPM: 900

I'm trying to receive a message from the device that I can use the data to overlay onto our fisheye cameras. However, when trying to export out a .pcd file of one single ros message, I notice that the pointcloud is cut in half. Should it be publishing the full pointcloud every ros message? I'm a bit confused as to why I can't save the entire cloud.

Screenshot from 2021-03-05 11-07-28

osholsonel20 commented 3 years ago

I also notice I get errors in the diagnostic message saying that my Hz is too fast. The Hz i'm getting is around 22 - 24, and the expected hz is from 12 - 15. Not sure if that is an issue here as well.

JWhitleyWork commented 3 years ago

@osholsonel20 Have you modified the launch file to reflect your rotation rate? The default is 600 and is set as a parameter in the launch file.

osholsonel20 commented 3 years ago

I have, changed from default 600 to 900. When it was at 600 with a 900 RPM sensor, a small chunk, about 5 degrees was missing from the point cloud message.

I've also used VeloView to test the device and it stated it was running at 900 RPM, just to confirm.

Screenshot from 2021-03-05 11-07-56

osholsonel20 commented 3 years ago

Here is the launch file we are using.

64e_points.txt

JWhitleyWork commented 3 years ago

@osholsonel20 Are you using the driver from the ROS repo (installed through apt) or building it from source? If from the ROS repo, what version? If from source, which branch, and which commit hash?

osholsonel20 commented 3 years ago

Source Branch: Master Commit Hash: e20b5e3 July 17th, 2020

osholsonel20 commented 3 years ago

I've also noticed that in /diagnostics it flips between 1 - 22hz for Min/Max and 13 - 16hz with actual frequency being ~24hz and target being 14-15hz for 13-16 and 1 - 22 has no target at all

Edit: Realize this is between /packets and /points with points being 1 - 22, and packets being 13-16

osholsonel20 commented 3 years ago

@JWhitleyWork Any updates on your end? Looking to try and fix our Velodyne device to get full point cloud fidelity for our data labeling team.

osholsonel20 commented 3 years ago

@JWhitleyWork I've brought the device down to 600 RPM. Do you know how many ros messages makes up one entire pointcloud? That's really what we need is just to save out a complete cloud as a .pcd file.