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resolve the timestamp error in pointcloud2 msg

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The timestamp unit in pcl::PointCloud  is us, not ns!
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livox
2019-08-13 17:15:00 +08:00
committed by GitHub
parent d55ae4929e
commit 7f546a57d0
1 changed files with 1 additions and 1 deletions
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livox_ros_driver/livox_lidar.cpp
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@@ -425,7 +425,7 @@ static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_nu
if (!cloud->width) {
//cloud->header.stamp = ros::Time(timestamp/1000000000.0); // to ros time stamp
cloud->header.stamp = timestamp/1000000000.0; // to ros time stamp
cloud->header.stamp = timestamp/1000.0; // to ros time stamp
ROS_DEBUG("[%d]:%ld us", handle, timestamp);
}
cloud->width += storage_packet.point_num;