diff --git a/README.md b/README.md index 77f7594..ada4395 100644 --- a/README.md +++ b/README.md @@ -283,5 +283,5 @@ After replacing "/home/livox/test.lvx" in the above command with the local lvx d You can get support from Livox with the following methods : -* Send email to dev@livoxtech.com with a clear description of your problem and your setup +* Send email to cs@livoxtech.com with a clear description of your problem and your setup * Report issue on github diff --git a/README_CN.md b/README_CN.md index 6bbdc11..265cdce 100644 --- a/README_CN.md +++ b/README_CN.md @@ -292,5 +292,5 @@ HUB 配置参数说明 你可以通过以下方式获取 Livox 的技术支持 : -* 发送邮件到 dev@livoxtech.com ，详细描述您遇到的问题和使用场景 +* 发送邮件到 cs@livoxtech.com ，详细描述您遇到的问题和使用场景 * 提交此代码仓的 github issues diff --git a/livox_ros_driver/CMakeLists.txt b/livox_ros_driver/CMakeLists.txt index 55aed77..e7088d7 100644 --- a/livox_ros_driver/CMakeLists.txt +++ b/livox_ros_driver/CMakeLists.txt @@ -212,8 +212,10 @@ install(TARGETS ${PROJECT_NAME}_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch +install(DIRECTORY + launch + config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) #--------------------------------------------------------------------------------------- diff --git a/livox_ros_driver/livox_ros_driver/lddc.cpp b/livox_ros_driver/livox_ros_driver/lddc.cpp index 3a21d85..55b18fd 100644 --- a/livox_ros_driver/livox_ros_driver/lddc.cpp +++ b/livox_ros_driver/livox_ros_driver/lddc.cpp @@ -594,7 +594,7 @@ ros::Publisher *Lddc::GetCurrentPublisher(uint8_t handle) { if (use_multi_topic_) { pub = &private_pub_[handle]; - queue_size = queue_size / 8; // queue size is 4 for only one lidar + queue_size = queue_size * 2; // queue size is 64 for only one lidar } else { pub = &global_pub_; queue_size = queue_size * 8; // shared queue size is 256, for all lidars @@ -643,7 +643,7 @@ ros::Publisher *Lddc::GetCurrentImuPublisher(uint8_t handle) { if (use_multi_topic_) { pub = &private_imu_pub_[handle]; - queue_size = queue_size / 8; // queue size is 4 for only one lidar + queue_size = queue_size * 2; // queue size is 64 for only one lidar } else { pub = &global_imu_pub_; queue_size = queue_size * 8; // shared queue size is 256, for all lidars diff --git a/livox_ros_driver/livox_ros_driver/lds.cpp b/livox_ros_driver/livox_ros_driver/lds.cpp index 07ed3dc..77977b6 100644 --- a/livox_ros_driver/livox_ros_driver/lds.cpp +++ b/livox_ros_driver/livox_ros_driver/lds.cpp @@ -43,6 +43,30 @@ bool IsFilePathValid(const char *path_str) { } } +/** Replace nonstardard function "timegm" with mktime. + * For a portable version of timegm, set the TZ environment variable to UTC, + * call mktime and restore the value of TZ. + * "localtime" and "timegm" are nonstandard GNU extensions that are also present + * on the BSDs. Avoid their use!!! + */ +time_t replace_timegm(struct tm *tm) { + time_t ret; + char *tz; + + tz = getenv("TZ"); + setenv("TZ", "", 1); + tzset(); + ret = mktime(tm); + + if (tz) + setenv("TZ", tz, 1); + else + unsetenv("TZ"); + tzset(); + + return ret; +} + uint64_t RawLdsStampToNs(LdsStamp ×tamp, uint8_t timestamp_type) { if (timestamp_type == kTimestampTypePps) { return timestamp.stamp; @@ -618,18 +642,20 @@ uint8_t Lds::GetDeviceType(uint8_t handle) { } } -void Lds::UpdateLidarInfoByEthPacket(LidarDevice *p_lidar, \ +void Lds::UpdateLidarInfoByEthPacket(LidarDevice *p_lidar, LivoxEthPacket* eth_packet) { if (p_lidar->raw_data_type != eth_packet->data_type) { p_lidar->raw_data_type = eth_packet->data_type; - p_lidar->packet_interval = GetPacketInterval(p_lidar->info.type, \ + p_lidar->packet_interval = GetPacketInterval(p_lidar->info.type, eth_packet->data_type); + p_lidar->timestamp_type = eth_packet->timestamp_type; p_lidar->packet_interval_max = p_lidar->packet_interval * 1.8f; - p_lidar->onetime_publish_packets = \ - GetPacketNumPerSec(p_lidar->info.type, \ + p_lidar->onetime_publish_packets = + GetPacketNumPerSec(p_lidar->info.type, p_lidar->raw_data_type) * buffer_time_ms_ / 1000; - printf("Lidar[%d][%s] DataType[%d] PacketInterval[%d] PublishPackets[%d]\n", - p_lidar->handle, p_lidar->info.broadcast_code, p_lidar->raw_data_type, + printf("Lidar[%d][%s] DataType[%d] timestamp_type[%d] PacketInterval[%d] " + "PublishPackets[%d]\n", p_lidar->handle, p_lidar->info.broadcast_code, + p_lidar->raw_data_type, p_lidar->timestamp_type, p_lidar->packet_interval, p_lidar->onetime_publish_packets); } } diff --git a/livox_ros_driver/livox_ros_driver/lds.h b/livox_ros_driver/livox_ros_driver/lds.h index 37a036f..2e89459 100644 --- a/livox_ros_driver/livox_ros_driver/lds.h +++ b/livox_ros_driver/livox_ros_driver/lds.h @@ -172,9 +172,10 @@ typedef struct { typedef struct { uint8_t handle; /**< Lidar access handle. */ uint8_t data_src; /**< From raw lidar or livox file. */ - uint8_t raw_data_type; /**< The data type in eth packaet */ + uint8_t raw_data_type; /**< The data type in eth packaet. */ bool data_is_pubulished; /**< Indicate the data of lidar whether is pubulished. */ + uint32_t timestamp_type; /**< timestamp type of the current eth packet. */ volatile uint32_t packet_interval; /**< The time interval between packets of current lidar, unit:ns */ volatile uint32_t packet_interval_max; /**< If more than it, @@ -263,6 +264,7 @@ const ProductTypePointInfoPair product_type_info_pair_table[kMaxProductType] = { * Global function for general use. */ bool IsFilePathValid(const char *path_str); +time_t replace_timegm(struct tm *tm); uint64_t RawLdsStampToNs(LdsStamp ×tamp, uint8_t timestamp_type); uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src); uint32_t CalculatePacketQueueSize(uint32_t interval_ms, uint8_t product_type, diff --git a/livox_ros_driver/timesync/timesync.cpp b/livox_ros_driver/timesync/timesync.cpp index b1f1d5f..bc7ce83 100644 --- a/livox_ros_driver/timesync/timesync.cpp +++ b/livox_ros_driver/timesync/timesync.cpp @@ -27,6 +27,7 @@ #include #include #include +#include #include #include @@ -139,8 +140,12 @@ void TimeSync::PollDataLoop() { CommPacket packet; memset(&packet, 0, sizeof(packet)); while ((kParseSuccess == comm_->ParseCommStream(&packet))) { - if ((fn_cb_ != nullptr) || (client_data_ != nullptr)) { - fn_cb_((const char *)packet.data, packet.data_len, client_data_); + if (((fn_cb_ != nullptr) || (client_data_ != nullptr))) { + if ((strstr((const char *)packet.data, "$GPRMC")) || + (strstr((const char *)packet.data , "$GNRMC"))){ + fn_cb_((const char *)packet.data, packet.data_len, client_data_); + printf("RMC data parse success!.\n"); + } } } }