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2013-08-03 21:33:09 -0500 | asked a question | LiDAR - IMU data synchronizarion We have a Velodyne HDL-64E S2.1 LiDAR which sends its data with GPS time stamps. We have to transform this LiDAR data according to the data we get from an IMU. In the Velodyne driver there is a transformation node that uses a published tf data to perform this transformation. My question is how can you synchronize this two data stream? We would like to process it offline, after the recording. We cannot start the two node exactly in the same time and even than the recorded/logged data may started in slightly different time. Thank you! Update: We had a discussion with Jack O'Quin about this on his velodyne_driver's issue page. We continued it on the ROS drivers SIG mailing list. If you know something about time synchronization or if you have experience in Phase-locked loop implementation ,please join us. |
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2013-07-25 01:06:51 -0500 | commented answer | What is the base frame in velodyne's transform_nodelet? Thank you, it works now. I also had to fix something in the code. I will create a patch as soon as possible. Update: Fixed. |
2013-07-24 03:18:13 -0500 | asked a question | What is the base frame in velodyne's transform_nodelet? I would like to transform the Velodyne LIDAR data before publishing it as a point cloud. If I understand correctly the purpose of TransformNodelet in velodyne package is exactly this. In order to perform this transformation I have to publish a new frame that will be used by the TransformNodelet. For example: rosrun tf static_transform_publisher 0.0 0.0 0.0 1.0 1.0 1.0 1.0 /what_is_this /my_frame 500 My problem is I do not know what is the base frame. Do anybody know what is its name? |
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2013-07-17 23:46:05 -0500 | commented answer | Packet rate of Velodyne HDL-64E in velodyne_driver Sure, I can give it to you. I have a question about the patch, but I will ask it on the issue's github page. Thank you! |
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2013-07-17 03:13:30 -0500 | edited question | Packet rate of Velodyne HDL-64E in velodyne_driver Hi Everyone, I am trying to understand the velodyne_driver code where I found the following: I did not know why the packet rate is 2600 so I checked the Velodyne HDL-64E manual and it writes:
This:
And also this:
So, according the the manual:
It means 1 packet contains 384 laser returns therefore the packet rate should be about 3472. Do I misunderstand something? Update: Thanks joq! I read both the 64E and the 64E S2 manuals and you are right, they generate different number of point per second. The 64E one generates 1 000 000 points per second meanwhile the 64E S2 generates the mentioned 1 333 312 points per second. In case of 64E's 1 000 000 points the calculated ... (more) |
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