add the scan rate parameter

src/laserMapping.cpp

@@ -773,6 +773,7 @@ int main(int argc, char** argv)
     nh.param<double>("preprocess/blind", p_pre->blind, 0.01);
     nh.param<int>("preprocess/lidar_type", p_pre->lidar_type, AVIA);
     nh.param<int>("preprocess/scan_line", p_pre->N_SCANS, 16);
+    nh.param<int>("preprocess/scan_rate", p_pre->SCAN_RATE, 10);
     nh.param<int>("point_filter_num", p_pre->point_filter_num, 2);
     nh.param<bool>("feature_extract_enable", p_pre->feature_enabled, false);
     nh.param<bool>("runtime_pos_log_enable", runtime_pos_log, 0);

src/preprocess.cpp

@@ -8,6 +8,7 @@ Preprocess::Preprocess()
 {
   inf_bound = 10;
   N_SCANS   = 6;
+  SCAN_RATE = 10;
   group_size = 8;
   disA = 0.01;
   disA = 0.1; // B?
@@ -269,7 +270,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
     pl_surf.reserve(plsize);
 
     /*** These variables only works when no point timestamps given ***/
-    double omega_l=3.61;       // scan angular velocity
+    double omega_l = 0.361 * SCAN_RATE;       // scan angular velocity
     std::vector<bool> is_first(N_SCANS,true);
     std::vector<double> yaw_fp(N_SCANS, 0.0);      // yaw of first scan point
     std::vector<float> yaw_last(N_SCANS, 0.0);   // yaw of last scan point

src/preprocess.h

@@ -94,7 +94,7 @@ class Preprocess
   PointCloudXYZI pl_full, pl_corn, pl_surf;
   PointCloudXYZI pl_buff[128]; //maximum 128 line lidar
   vector<orgtype> typess[128]; //maximum 128 line lidar
-  int lidar_type, point_filter_num, N_SCANS;;
+  int lidar_type, point_filter_num, N_SCANS, SCAN_RATE;
   double blind;
   bool feature_enabled, given_offset_time;
   ros::Publisher pub_full, pub_surf, pub_corn;