Additional lidar_handler to set the timestamp of the pointcloud from specific rotation angle #73
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…a specific rotation angle. This enable better synchronisation to other sensors
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Related Issues & PRs
Summary of Changes
I added an additional
lidar_handlerwhich enables the user to precisely set the point cloud time stamp to a specific rotation angle (within configured azimuth range).This helps if one would like to sync a camera with the LiDAR.
E.g. If the camera is triggered at 270deg of LiDAR rotation. The user could now set
time_reference_angle:=270.0and the published point cloud will be stamped with the time when it swiped the 270° and hence exactly when the camera was triggered.In combination with phase_lock this is quite handy. Comparable to an issue within the velodyne driver: ros-drivers/velodyne#242
Validation
I tested it with an OS0-128 with FW 2.4
If an azimuth range is configured and the user provided time_reference_angle is out of range it will fall back to the default driver behavior.
I hope you see the benefit this provides for many real life applications.
Looking forward to discuss 😃