ira_laser_tools not consistently merging laserscans

asked 2022-02-02 07:53:05 -0500

Pedro Leal gravatar image

updated 2022-02-02 07:53:58 -0500


I'm currently attempting to merge to LIDAR scans. These are the same LIDAR model, currently publishing /Laserscan topics at ~11Hz. I'm using a repository of ira_laser_tools migrated to ROS2 ( I found here mentioned (

The laserscan_multi_merger subscribes correctly to both source scans. The parameters choice for the resulting scan (such as angle increment/range_min/etc..) are the same as the source scan (except stuff like angle_min/max which is increased). My problem is as follows: the resulting merged scan seems to be publishing at times the correct merged scan, but other times it seems to only publish one of the source scans (without merging anything at all). This makes sense given that the sensors' rates are 11Hz but the resulting scan coming from laserscan_multi_merger is actually higher (sometimes ~17 other ~22). Basically, seems that sometimes the node does not receive both scans and therefore only uses one and republishes it.

Does anyone with experience with this package can tell me if this is a known issue? I'm trying to know if the error was introduced from the migration done in that particular git repository or not. And if so, what could solve it, maybe I should synchronize the scans' headers time_stamp before sending it to the merger node? Increasing parameters such as "max_merge_time_diff" doesn't seem to have any effect.

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