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Published 20 hours ago • verified publisher icon CPFL

Add timestamping_mode parameter

Open Lohrer opened this issue 5 years ago • 0 comments

Added support for setting the timestamping mode. Supported timestamp modes on OS-1: TIME_FROM_INTERNAL_OSC (default), TIME_FROM_PTP_1588, and TIME_FROM_SYNC_PULSE_IN. The default is left at TIME_FROM_INTERNAL_OSC so nothing changes if the parameter is not defined.

If TIME_FROM_PTP_1588 is used the pointcloud message timestamp is used directly from the lidar instead of ros::Time::now().

Lohrer avatar Oct 31 '19 20:10 Lohrer