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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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Multiple scans are displayed when the FOV is reduced for the Velodyne VLP-16 lidar #432

Open rrr6399 opened 2 years ago

rrr6399 commented 2 years ago

Describe the bug If the FOV of the VLP-16 is reduced, the Point3D Cloud message contains multiple scans of the data.

To Reproduce Steps to reproduce the behavior:

  1. Use the Velodyne web interface to reduce the FOV
  2. Start the Velodyne ROS service connecting to a live VLP-16 lidar
  3. Display the lidar data in rviz
  4. Notice that multiple scans are being shown at a given time

Expected behavior One scan per message and data for one scan is shown in rviz.

Here is rviz displaying the lidar data for the reduced FOV rviz

Here is LidarView displaying the lidar data through a direct connection to the lidar lidarview

Also, see discussion here: https://answers.ros.org/question/392144/how-to-receive-and-display-only-one-full-scan-when-the-fov-is-reduced-for-the-velodyne-lidar/