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fix:fix packet interval bug

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Livox-SDK
2020-02-20 18:39:36 +08:00
parent 3a77efc8c4
commit dc1807324b
2 changed files with 41 additions and 22 deletions
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2
livox_ros_driver/livox_ros_driver/include/livox_ros_driver.h
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@@ -27,7 +27,7 @@
#define LIVOX_ROS_DRIVER_VER_MAJOR 2 #define LIVOX_ROS_DRIVER_VER_MAJOR 2
#define LIVOX_ROS_DRIVER_VER_MINOR 0 #define LIVOX_ROS_DRIVER_VER_MINOR 0
#define LIVOX_ROS_DRIVER_VER_PATCH 0 #define LIVOX_ROS_DRIVER_VER_PATCH 1
#define GET_STRING(n) GET_STRING_DIRECT(n) #define GET_STRING(n) GET_STRING_DIRECT(n)
#define GET_STRING_DIRECT(n) #n #define GET_STRING_DIRECT(n) #n

59
livox_ros_driver/livox_ros_driver/lddc.cpp
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@@ -28,15 +28,17 @@
#include <inttypes.h> #include <inttypes.h>
#include <math.h> #include <math.h>
#include "lds_lvx.h"
#include "lds_lidar.h"
#include <ros/ros.h> #include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Imu.h> #include <sensor_msgs/Imu.h>
#include <rosbag/bag.h> #include <rosbag/bag.h>
#include <pcl_ros/point_cloud.h>
#include "lds_lvx.h"
#include "lds_lidar.h"
#include <livox_ros_driver/CustomPoint.h> #include <livox_ros_driver/CustomPoint.h>
#include <livox_ros_driver/CustomMsg.h> #include <livox_ros_driver/CustomMsg.h>
#include <pcl_ros/point_cloud.h>
namespace livox_ros { namespace livox_ros {
@@ -130,18 +132,22 @@ uint32_t Lddc::PublishPointcloud2(LidarDataQueue* queue, uint32_t packet_num, ui
QueueProPop(queue, &storage_packet); QueueProPop(queue, &storage_packet);
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data); LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
uint32_t packet_interval = GetPointInterval(raw_packet->data_type); uint32_t packet_interval = GetPacketInterval(raw_packet->data_type);
uint64_t packet_loss_threshold = packet_interval + packet_interval / 2; int64_t packet_loss_threshold_lower = packet_interval + packet_interval / 2;
timestamp = GetStoragePacketTimestamp(&storage_packet, data_source); timestamp = GetStoragePacketTimestamp(&storage_packet, data_source);
if (published_packet && \ int64_t packet_gap = timestamp - last_timestamp;
((timestamp - last_timestamp) > packet_loss_threshold)) { if (published_packet && (packet_gap > packet_loss_threshold_lower)) {
if (kSourceLvxFile != data_source) { if (kSourceLvxFile != data_source) {
ROS_INFO("Lidar[%d] packet loss"); ROS_INFO("Lidar[%d] packet loss %ld", handle, packet_loss_threshold_lower);
int64_t packet_loss_threshold_upper = packet_interval * packet_num;
if (packet_gap > packet_loss_threshold_upper) { // skip when gap is too large
break;
}
point_base = FillZeroPointXyzrtl(point_base, storage_packet.point_num); point_base = FillZeroPointXyzrtl(point_base, storage_packet.point_num);
cloud.width += storage_packet.point_num; cloud.width += storage_packet.point_num;
last_timestamp = last_timestamp + packet_interval; last_timestamp = last_timestamp + packet_interval;
++published_packet; ++published_packet;
break; continue;
} }
} }
@@ -205,14 +211,27 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue* queue, uint32_t packet_num,
while (published_packet < packet_num) { while (published_packet < packet_num) {
QueueProPop(queue, &storage_packet); QueueProPop(queue, &storage_packet);
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data); LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
uint32_t packet_interval = GetPacketInterval(raw_packet->data_type);
int64_t packet_loss_threshold_lower = packet_interval + packet_interval / 2;
timestamp = GetStoragePacketTimestamp(&storage_packet, data_source); timestamp = GetStoragePacketTimestamp(&storage_packet, data_source);
if (published_packet && \ int64_t packet_gap = timestamp - last_timestamp;
((timestamp - last_timestamp) > kMaxPacketTimeGap)) { if (published_packet && (packet_gap > packet_loss_threshold_lower)) {
ROS_INFO("Lidar[%d] packet loss", handle); ROS_INFO("Lidar[%d] packet loss", handle);
int64_t packet_loss_threshold_upper = packet_interval * packet_num;
if (packet_gap > packet_loss_threshold_upper) { // skip when gap is too large
break; break;
} }
pcl::PointXYZI point = {0}; // fill zero points
for (uint32_t i = 0; i < storage_packet.point_num; i++) {
cloud->points.push_back(point);
}
last_timestamp = last_timestamp + packet_interval;
++published_packet;
continue;
}
if (!published_packet) { if (!published_packet) {
cloud->header.stamp = timestamp/1000.0; // to pcl ros time stamp cloud->header.stamp = timestamp / 1000.0; // to pcl ros time stamp
} }
cloud->width += storage_packet.point_num; cloud->width += storage_packet.point_num;
@@ -466,13 +485,13 @@ void Lddc::DistributeLidarData(void) {
ros::Publisher* Lddc::GetCurrentPublisher(uint8_t handle) { ros::Publisher* Lddc::GetCurrentPublisher(uint8_t handle) {
ros::Publisher** pub = nullptr; ros::Publisher** pub = nullptr;
uint32_t queue_size = kMinEthPacketQueueSize * 4; uint32_t queue_size = kMinEthPacketQueueSize;
if (use_multi_topic_) { if (use_multi_topic_) {
pub = &private_pub_[handle]; pub = &private_pub_[handle];
} else { } else {
pub = &global_pub_; pub = &global_pub_;
queue_size = queue_size * 32; queue_size = queue_size * 8;
} }
if (*pub == nullptr) { if (*pub == nullptr) {
@@ -491,17 +510,17 @@ ros::Publisher* Lddc::GetCurrentPublisher(uint8_t handle) {
if (kPointCloud2Msg == transfer_format_) { if (kPointCloud2Msg == transfer_format_) {
**pub = cur_node_->advertise<sensor_msgs::PointCloud2>(name_str,\ **pub = cur_node_->advertise<sensor_msgs::PointCloud2>(name_str,\
queue_size); queue_size);
ROS_INFO("%s publish use PointCloud2 format, publisher queue size [%d]", \ ROS_INFO("%s publish use PointCloud2 format, set ROS publisher queue size %d", \
name_str, queue_size); name_str, queue_size);
} else if (kLivoxCustomMsg == transfer_format_) { } else if (kLivoxCustomMsg == transfer_format_) {
**pub = cur_node_->advertise<livox_ros_driver::CustomMsg>(name_str,\ **pub = cur_node_->advertise<livox_ros_driver::CustomMsg>(name_str,\
queue_size); queue_size);
ROS_INFO("%s publish use livox custom format, publisher queue size [%d]", \ ROS_INFO("%s publish use livox custom format, set ROS publisher queue size %d", \
name_str, queue_size); name_str, queue_size);
} else if (kPclPxyziMsg == transfer_format_) { } else if (kPclPxyziMsg == transfer_format_) {
**pub = cur_node_->advertise<PointCloud>(name_str,\ **pub = cur_node_->advertise<PointCloud>(name_str,\
queue_size); queue_size);
ROS_INFO("%s publish use pcl PointXYZI format, publisher queue size [%d]", \ ROS_INFO("%s publish use pcl PointXYZI format, set ROS publisher queue size %d", \
name_str, queue_size); name_str, queue_size);
} }
} }
@@ -511,13 +530,13 @@ ros::Publisher* Lddc::GetCurrentPublisher(uint8_t handle) {
ros::Publisher* Lddc::GetCurrentImuPublisher(uint8_t handle) { ros::Publisher* Lddc::GetCurrentImuPublisher(uint8_t handle) {
ros::Publisher** pub = nullptr; ros::Publisher** pub = nullptr;
uint32_t queue_size = kMinEthPacketQueueSize * 4; uint32_t queue_size = kMinEthPacketQueueSize;
if (use_multi_topic_) { if (use_multi_topic_) {
pub = &private_imu_pub_[handle]; pub = &private_imu_pub_[handle];
} else { } else {
pub = &global_imu_pub_; pub = &global_imu_pub_;
queue_size = queue_size * 32; queue_size = queue_size * 4;
} }
if (*pub == nullptr) { if (*pub == nullptr) {
@@ -534,7 +553,7 @@ ros::Publisher* Lddc::GetCurrentImuPublisher(uint8_t handle) {
*pub = new ros::Publisher; *pub = new ros::Publisher;
**pub = cur_node_->advertise<sensor_msgs::Imu>(name_str, queue_size); **pub = cur_node_->advertise<sensor_msgs::Imu>(name_str, queue_size);
ROS_INFO("%s publish imu data, Publisher QueueSize[%d]", name_str, queue_size); ROS_INFO("%s publish imu data, set ROS publisher queue size %d", name_str, queue_size);
} }
return *pub; return *pub;