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1 | initial version |
I found a solution to extracting the acquisition time from a PCAP file acquired by a Velodyne VLP-16 LIDAR in an older question by changing the packet stamp time in the input.cc file within the velodyne_driver package. The follow steps were borrowed from the older question, but I will place here as well.
To accomplish this, git clone velodyne package into the catkin_workspace/src
/home/user/catkin_ws/src
and navigated to
/home/user/catkin_ws/src/velodyne/velodyne_driver/src/lib
and changed the following line in the input.cc file (line 320 on mine)
from: pkt->stamp = ros::Time::now(); to: pkt->stamp = ros::Time(header->ts.tv_sec, header->ts.tv_usec * 1000);
Then run catkin_make in /home/user/catkin_ws (and, don't forget to source the /home/user/catkin_ws/devel/setup.bash) and I printed the timestamps for each packet, which matched the acquired time.
2 | No.2 Revision |
I found a solution to extracting the acquisition time from a PCAP file acquired by a Velodyne VLP-16 LIDAR in an older question by changing the packet stamp time in the input.cc file within the velodyne_driver package. The follow steps were borrowed from the older question, but I will place here as well.
To accomplish this, git clone velodyne package into the catkin_workspace/src
/home/user/catkin_ws/src
and navigated to
/home/user/catkin_ws/src/velodyne/velodyne_driver/src/lib
and changed the following line in the input.cc file (line 320 on mine)
Then run catkin_make in /home/user/catkin_ws (and, don't forget to source the /home/user/catkin_ws/devel/setup.bash) and I printed the timestamps for each packet, which matched the acquired time.
Thanks.