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If memory serves, the ros velodyne driver calculates an expected number of packets per scan based on receiving data for a full 360 degrees. So if you are only sending 1/3 the data packets every rotation, it will take 3 rotations before ros will register enough packets to publish a scan. This lines up with your notes on observed topic publishing frequency.

This is a little hacky, but can you try changing the rpm param in your launch file to be 2700 instead of 900 and report back?

If memory serves, the ros velodyne driver calculates an expected number of packets per scan based on receiving data for a full 360 degrees. So if you are only sending 1/3 the data packets every rotation, it will take 3 rotations before ros will register enough packets to publish a scan. This lines up with your notes on observed topic publishing frequency.

This is a little hacky, but can you try changing the rpm param in your launch file to be 2700 instead of 900 and report back?back (keep the actual rpm setting in the web interface at 900)?