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I'm using a livox horizon and I can view the lidar data in the base_link frame, but when I switch to the odom frame I get an error in rviz that the message is too old. When I check it in rqt I see that the lidar has a timestamp of 2000 seconds and the other sensors have a timestamp of 1613549391. The lidar is connected with a utp cable.
How do I transform it so it's viewable in the odom frame?
Hello, The issue is the timestamp of Livox Lidar. You can use the following commands to synchronize the time stamp of Livox with ROS
$ sudo apt install ptpd
$ sudo ptpd -M -i "your network adaper name" -C
For example: sudo ptpd -M -i enp8s0 -C
Asked: 2021-02-17 02:10:49 -0500
Seen: 212 times
Last updated: Jun 08 '23
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