feat: change the default scan split way to angle

Also change the packet rate to 750 for RS16 and 1500 for RS32 What happened. Close #10, #11, #12 (BREAKING CHANGE: isolate scope bindings definition has changed.) Signed-off-by: Tony Zhang <hitxfd.tony@gmail.com>
RoboSense-LiDAR · Aug 13, 2019 · e427de3 · e427de3
1 parent 87e1a4e
commit e427de3
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Showing 5 changed files with 16 additions and 7 deletions.
diff --git a/rslidar_driver/src/rsdriver.cpp b/rslidar_driver/src/rsdriver.cpp
@@ -38,12 +38,18 @@ rslidarDriver::rslidarDriver(ros::NodeHandle node, ros::NodeHandle private_nh)
   // product model
   if (config_.model == "RS16")
   {
-    packet_rate = 840;
+    //for 0.18 degree horizontal angle resolution
+    //packet_rate = 840;
+    //for 0.2 degree horizontal angle resolution
+    packet_rate = 750;
     model_full_name = "RS-LiDAR-16";
   }
   else if (config_.model == "RS32")
   {
-    packet_rate = 1690;
+    //for 0.18 degree horizontal angle resolution
+    //packet_rate = 1690;
+    //for 0.2 degree horizontal angle resolution
+    packet_rate = 1500;
     model_full_name = "RS-LiDAR-32";
   }
   else

diff --git a/rslidar_pointcloud/launch/rs_lidar_16.launch b/rslidar_pointcloud/launch/rs_lidar_16.launch
@@ -3,13 +3,15 @@
   <arg name="device_ip" default="192.168.1.200" />
   <arg name="msop_port" default="6699" />
   <arg name="difop_port" default="7788" />
+  <arg name="cut_angle" default="0" doc="If set at [0, 360), cut at specific angle feature activated, otherwise use the fixed packets number mode."/>
   <arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_16/"/>
 
   <node  name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
     <param name="model" value="$(arg model)"/>
     <param name="device_ip" value="$(arg device_ip)" />
     <param name="msop_port" value="$(arg msop_port)" />
     <param name="difop_port" value="$(arg difop_port)"/>
+    <param name="cut_angle" value="$(arg cut_angle)"/>
     <!--param name="pcap" value="path_to_pcap"/-->
   </node>
 
@@ -19,7 +21,7 @@
     <param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
     <param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
     <param name="max_distance" value="200"/>
-    <param name="min_distance" value="0.2"/>
+    <param name="min_distance" value="0.4"/>
     <param name="resolution_type" value="0.5cm"/>
     <param name="intensity_mode" value="1"/>
   </node>

diff --git a/rslidar_pointcloud/launch/rs_lidar_32.launch b/rslidar_pointcloud/launch/rs_lidar_32.launch
@@ -3,14 +3,15 @@
   <arg name="device_ip" default="192.168.1.200" />
   <arg name="msop_port" default="6699" />
   <arg name="difop_port" default="7788" />
+  <arg name="cut_angle" default="0" doc="If set at [0, 360), cut at specific angle feature activated, otherwise use the fixed packets number mode."/>
   <arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_32/"/>
 
   <node  name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
     <param name="model" value="$(arg model)"/>
     <param name="device_ip" value="$(arg device_ip)" />
     <param name="msop_port" value="$(arg msop_port)" />
     <param name="difop_port" value="$(arg difop_port)"/>
-    <param name="cut_angle" value="0.0" />
+    <param name="cut_angle" value="$(arg cut_angle)"/>
     <!--param name="pcap" value="path_to_pcap"/-->
   </node>
 
@@ -21,7 +22,7 @@
     <param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
     <param name="curves_rate_path" value="$(arg lidar_param_path)/CurveRate.csv" />
     <param name="max_distance" value="200"/>
-    <param name="min_distance" value="0.2"/>
+    <param name="min_distance" value="0.4"/>
     <param name="resolution_type" value="0.5cm"/>
     <param name="intensity_mode" value="1"/>
   </node>

diff --git a/rslidar_pointcloud/src/rawdata.cc b/rslidar_pointcloud/src/rawdata.cc
@@ -68,7 +68,7 @@ void RawData::loadConfigFile(ros::NodeHandle node, ros::NodeHandle private_nh)
   end_angle_ = end_angle_ * 100;
 
   private_nh.param("max_distance", max_distance_, 200.0f);
-  private_nh.param("min_distance", min_distance_, 0.2f);
+  private_nh.param("min_distance", min_distance_, 0.4f);
 
   ROS_INFO_STREAM("[cloud][rawdata] distance threshlod, max: " << max_distance_ << " m, min: " << min_distance_
                                                                << " m");

diff --git a/rslidar_pointcloud/src/rawdata.h b/rslidar_pointcloud/src/rawdata.h
@@ -44,7 +44,7 @@ static const float ROTATION_RESOLUTION = 0.01f;   /**< degrees 旋转角分辨
 static const uint16_t ROTATION_MAX_UNITS = 36000; /**< hundredths of degrees */
 
 static const float DISTANCE_MAX = 200.0f;            /**< meters */
-static const float DISTANCE_MIN = 0.2f;              /**< meters */
+static const float DISTANCE_MIN = 0.4f;              /**< meters */
 static const float DISTANCE_RESOLUTION = 0.01f;      /**< meters */
 static const float DISTANCE_RESOLUTION_NEW = 0.005f; /**< meters */
 static const float DISTANCE_MAX_UNITS = (DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0f);