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Hot fix for VLP16 timestamp #291

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Hot fix for VLP16 timestamp #291

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e24accc
hot fix for vlp timestamp error
ike-kazu Mar 21, 2025
a33adcd
hot fix
ike-kazu Mar 21, 2025
4e28777
hot fix implementation
ike-kazu Mar 24, 2025
c6e2672
ci(pre-commit): autofix
pre-commit-ci[bot] Mar 24, 2025
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39 changes: 29 additions & 10 deletions nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,7 @@
{
VelodyneStatus status;
const auto & ok = VelodyneStatus::OK;
const int32_t fov_tolerance_deg = 5;

std::string target_key = "config.returns";
auto current_return_mode_str = tree.get<std::string>(target_key);
Expand Down Expand Up @@ -167,13 +168,36 @@
<< std::endl;
}

target_key = "config.fov.start";
auto current_cloud_min_angle = tree.get<std::uint16_t>(target_key);
int setting_cloud_min_angle = sensor_configuration->cloud_min_angle;
// Velodyne only allows a maximum of 359 in the setting
if (setting_cloud_min_angle == 360) {
setting_cloud_min_angle = 359;
int setting_cloud_max_angle = sensor_configuration->cloud_max_angle;

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// FIXME: VLP16 has problems for timestamp. Whatch github issue #292

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// VLP16 timestamps are weird when pointcloud are filtered by filtered by same hardware fov as
// software fov. To improve this, we need to set the hardware fov wider than the software fov.
if (sensor_configuration->sensor_model == SensorModel::VELODYNE_VLP16) {
int angle_diff = (setting_cloud_max_angle - setting_cloud_min_angle + 360) % 360;

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@mojomex mojomex Mar 21, 2025

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Please define the angle we oversize by as a const int32_t fov_tolerance_deg = 5; and replace all 5s below by that constant.


if (
angle_diff == 0 || (angle_diff >= 360 - 2 * fov_tolerance_deg &&

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setting_cloud_min_angle < setting_cloud_max_angle)) {
setting_cloud_min_angle = 0;
setting_cloud_max_angle = 359;
} else {
setting_cloud_min_angle = (setting_cloud_min_angle - fov_tolerance_deg + 360) % 360;
setting_cloud_max_angle = (setting_cloud_max_angle + fov_tolerance_deg) % 360;

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if (setting_cloud_min_angle == 0 && setting_cloud_max_angle == 0) {
setting_cloud_max_angle = 359;
}
}
} else {
if (setting_cloud_min_angle == 360) setting_cloud_min_angle = 359;
if (setting_cloud_max_angle == 360) setting_cloud_max_angle = 359;
}
std::cout << "setting_cloud_min_angle: " << setting_cloud_min_angle << std::endl;
std::cout << "setting_cloud_max_angle: " << setting_cloud_max_angle << std::endl;

target_key = "config.fov.start";
auto current_cloud_min_angle = tree.get<std::uint16_t>(target_key);

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if (setting_cloud_min_angle != current_cloud_min_angle) {
status = set_fov_start(setting_cloud_min_angle);
if (status != ok) return status;
Expand All @@ -185,11 +209,6 @@

target_key = "config.fov.end";
auto current_cloud_max_angle = tree.get<std::uint16_t>(target_key);
int setting_cloud_max_angle = sensor_configuration->cloud_max_angle;
// Velodyne only allows a maximum of 359 in the setting
if (setting_cloud_max_angle == 360) {
setting_cloud_max_angle = 359;
}
if (setting_cloud_max_angle != current_cloud_max_angle) {
status = set_fov_end(setting_cloud_max_angle);
if (status != ok) return status;
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