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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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timestamp seems incorrect using pps and gprmc #409

Open wangce31 opened 3 years ago

wangce31 commented 3 years ago

-Device: VLP16

Describe the bug: I try to synchronize timestamp using pps and GPRMC.The interface box is connected correctly according to the documentation. And GPS position and pps lock are shown correctly on the configuration page. As far as I know, when receiving a rising edge of pps, lidar will phase lock and clear the sub-seconds counter. In this case, the microseconds of the first frame of pointcloud after receiving the rising edge within every second should be about 100ms ( 10Hz), but the result does not seem to be correct.It looks like phase lock doesn't work. 111 222

Mahmoudadham4040 commented 1 year ago

which type of GPS used to synchronize ? could you please provide us with a photo for the pin wires connections?