mirrors/livox_ros_driver
1
0
Fork 0
mirror of https://github.com/Livox-SDK/livox_ros_driver.git synced 2023-04-06 15:49:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

resolve the timestamp error in pointcloud2 msg

Browse Source 
The timestamp unit in pcl::PointCloud  is us, not ns!
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

2
livox_ros_driver/livox_lidar.cpp
View File

@@ -425,7 +425,7 @@ static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_nu
if (!cloud->width) { if (!cloud->width) {
//cloud->header.stamp = ros::Time(timestamp/1000000000.0); // to ros time stamp //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); ROS_DEBUG("[%d]:%ld us", handle, timestamp);
} }
cloud->width += storage_packet.point_num; cloud->width += storage_packet.point_num;