Hi, I have an issue when using my Velodyne-VLP-16 lidar.

[jhforstudy]

Hi, thanks for your great code.

I'm using ubuntu 18.04 & velodyne VLP-16 lidar. I downloaded your package and rosbag file (I also used what you gave. HDL-32E rosbag file.) I checked it has no problem with the rosbag file. But, I tried to use my velodyne VLP-16 lidar instead of the rosbag file,

This error message comes: "Failed to find match for field 'time'."

As you said, I think the timestamp is missing, but I don't know what to do. I googled it and read velodyne manual too... but I failed. Can you give me a help? I'm really looking forward to your answer.

[arjunskumar]

@jhforstudy you need to set the point type of your lidar as XYZIRT

[jhforstudy]

@arjunskumar Thank you for your answer! You mean that I have to publish XYZIRT, not XYZIR? Ok I’ll try it.

[arjunskumar]

@jhforstudy yes

[arjunskumar]

@jhforstudy are you able to fix the issue?

[jhforstudy]

Yes @arjunskumar, my Velodyne topic doesn't have time stamp, that was the problem. You can close this issue. Thanks.

[MoonSheepJx]

hello, i meet the same question about timestamp of velodyne16. I want to know velodyne16 simply cannot publish the timestamp of every point. Or is it possible to set something of velodyne16 to enable the lidar to publish points with timestamp?

[mteastepp]

@MoonSheepJx the velodyne driver that is installed using apt install ros-x-velodyne does not publish the point-wise timestamps. You need to pull the latest driver directly from the github page, then it will publish the point-wise timestamp.

[stale[bot]]

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