Fix timestamp: subtract packet time instead of full scan time #125
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The previous timestamp patch in PR PepperlFuchs#104 subtracted the full scan time from the last point time of the _first_ packet to determine the scan timestamp. It has to be the time for a single packet instead. Otherwise, the timestamp is too far in the past. This is especially noticeable when the scan frequency is in a lower range like 10Hz, i.e. the scan timestamp would be 100ms off compared to other sensor modalities.
MichaelGrupp
commented
May 10, 2024
| msg->header.stamp = packet.last_acquired_point_stamp - scan_time; | ||
| msg->angle_increment = packet.header.angular_increment / 10000.0 * (M_PI / 180.0); | ||
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off-topic: why is this part in its own scope?
MichaelGrupp
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May 22, 2024
This is almost the same as the patch for master, but the timestamping has changed between these versions (and both are wrong). Patch for master: PepperlFuchs#125
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The previous timestamp patch in PR #104 subtracted the full scan time from the last point time of the first packet to determine the scan timestamp.
It has to be the time for a single packet instead. Otherwise, the timestamp is too far in the past.
This is especially noticeable when the scan frequency is in a lower range like 10Hz, i.e. the scan timestamp would be 100ms off compared to other sensor modalities.