Bernardo Taveira

Ok I have found the place were it asks for the -lrt (rt). I removed the flag and it works now. I don't know if there is a work around...

@jtbandes That would be a very good alternative!

I get the same problem on Galactic (Ubuntu 20.04) using the Ouster driver: https://github.com/ros-drivers/ros2_ouster_drivers Steps: 1. Start driver and wait for it to connect to lidar 2. open foxglove if...

I managed to create a replicable scenario without the need for specific hardware such as a lidar. It uses the same Ouster lidar driver but it reads from a PCAP...

Just found that also replaying a rosbag and connecting foxglove with the ROS2 direct connect has the same effect. Steps: 1. Download the mcap file: https://drive.google.com/file/d/1tK8__H6LBs4wNCl-n5ns4sJ0zzV2Rb_Z/view?usp=sharing 2. Make sure to...

I can confirm that this also happens to me. I don't really depend on it but thought would share as well 

The LiDAR and the world around it are both stationary so delay is not in question I think. Might have something to do with the other issue indeed.

Yes it is static angle deviation. I placed the lidar against a wall of a squared room to check whether it was the pointcloud or the laser scan to blame....

I don't understand why it is not aligned but rotating 10 increments seems to fix it:  

@CollinNHays That is interesting! It looks like it is a rotated at the same angle for all modes. So it might not be a matter of 10 incrementes but an...