Feature/lidar lite #3
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Tested on Rev 1.1 |
| @@ -4,3 +4,6 @@ | |||
| [submodule "dependencies/versavis_hw"] | |||
| path = dependencies/versavis_hw | |||
| url = git@github.com:ethz-asl/versavis_hw.git | |||
| [submodule "firmware/libraries/LIDAREnhanced"] | |||
| path = firmware/libraries/LIDAREnhanced | |||
| url = git@github.com:rikba/LIDAREnhanced.git | |||
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both mentioned PRs got merged, we could switch to main repo
| // Get range and trigger new measurement. | ||
| nack = lidar_controller_.distanceAndAsync(kId, &range_msg_.range); | ||
| // New measurement triggered. Set the next time stamp. | ||
| Sensor::setTimestampNow(); |
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You need to set the timestamp before writing it to the message header (Line 45) for this specific measurement (e.g. at the very beginning of publish or in triggerMeasurement). Like implemented here, the timestamp obtained here will be written in the message header the NEXT time the timer interrupts.
| return; | ||
| } | ||
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| if (range_msg_.time.data.sec != 0 && range_msg_.time.data.nsec != 0) { |
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I assume this is a catch for the very first measurement. If you adapt my suggestion above, this should not happen anymore.
| @@ -0,0 +1,30 @@ | |||
| <?xml version="1.0"?> | |||
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Could you rename this to run_lidar_lite_only?
| <param name="range_sensitivity" value="0.01" /> | ||
| <param name="min_signal_strength" value="0" /> <!-- No minimum signal strength --> | ||
| </node> | ||
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Maybe add a comment here to force-initialize the cameras.
| ~VersaVisRangeReceiver() { node_handle_.shutdown(); } | ||
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| void rangeCallback(const versavis::RangeMicro &range_micro_msg) { | ||
| ROS_INFO_ONCE("Received first Range message from topic: %s", |
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| ROS_INFO_ONCE("Received first Range message from topic: %s", | |
| ROS_INFO_ONCE("Received first RangeMicro message from topic: %s", |
This PR introduces range sensors into the VersaVis repository.
Currently, we add our fork as LidarEnhanced dependency: https://github.com/rikba/LIDAREnhanced/tree/devel/versavis but if AlexisTM/LIDAREnhanced#13 and AlexisTM/LIDAREnhanced#12 are merged, we can also use the main repo.