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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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Question about PCAP timestamps & PCAP+GPS timestamps #384 #462

Closed JINGJAN closed 2 years ago

JINGJAN commented 2 years ago

384 said gps_time == true (regardless of pcap_time value) - use UDP header for hour and modify with GPS time.

However, if the time of the UDP header is 14:00:00.000001 and the GPS time is 13:59:59:999999.

If I understand correctly, you use the UDP header(UDP arriving time) to recover the hour and add the GPS microsecond using the PCAP data. Could your method handle the above situation? @JWhitleyWork

Thanks, Best Regards

JINGJAN commented 2 years ago

I find this function ros::Time resolveHourAmbiguity(const ros::Time &stamp, const ros::Time &nominal_stamp) answer my question.