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Add timestamp fallback to packet time if no table is available #560

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Add timestamp fallback to packet time if no table is available #560

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57d0fa0
Add timestamp fallback to packet time if no table is available
thomasemter Jun 2, 2025
5ae3866
Bump to retrigger checks
thomasemter Jun 23, 2025
3fadcc3
Change formatting
thomasemter Jun 23, 2025
9ed4f0d
Change formatting
thomasemter Jun 23, 2025
0d3b0db
Change formatting
thomasemter Jun 23, 2025
fd41094
Fix include for rolling
thomasemter Jun 23, 2025
e533efe
Fix include ordering
thomasemter Jun 23, 2025
3ddc4f2
Add check for Iron
thomasemter Jun 23, 2025
2319fb3
Fix check for Iron
thomasemter Jun 23, 2025
f2e9fef
Add version output
thomasemter Jun 23, 2025
1c5c3c3
Fix check for Iron
thomasemter Jun 23, 2025
c4bb019
Remove version output
thomasemter Jun 23, 2025
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5 changes: 4 additions & 1 deletion velodyne_pointcloud/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ find_package(message_filters REQUIRED)
find_package(PCL REQUIRED COMPONENTS common)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rosidl_cmake REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
Expand Down Expand Up @@ -73,9 +74,11 @@ target_link_libraries(velodyne_cloud_types PUBLIC
tf2_ros::tf2_ros
${velodyne_msgs_TARGETS}
)

add_library(transform SHARED
src/conversions/transform.cpp)
if(${rosidl_cmake_VERSION} VERSION_EQUAL 4.0.1)
target_compile_definitions(transform PUBLIC ROS2_IRON)
endif()
target_include_directories(transform PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
Expand Down
6 changes: 5 additions & 1 deletion velodyne_pointcloud/include/velodyne_pointcloud/transform.hpp
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Expand Up @@ -32,8 +32,9 @@

#ifndef VELODYNE_POINTCLOUD__TRANSFORM_HPP_
#define VELODYNE_POINTCLOUD__TRANSFORM_HPP_

#ifdef ROS2_IRON
#include <message_filters/subscriber.h>
#endif
#include <tf2_ros/buffer.h>
#include <tf2_ros/message_filter.h>
#include <tf2_ros/transform_listener.h>
Expand All @@ -43,6 +44,9 @@

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <diagnostic_updater/publisher.hpp>
#ifndef ROS2_IRON
#include <message_filters/subscriber.hpp>
#endif
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <velodyne_msgs/msg/velodyne_scan.hpp>
Expand Down
1 change: 1 addition & 0 deletions velodyne_pointcloud/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
<author>Andreas Klintberg</author>

<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rosidl_cmake</build_depend>

<depend>angles</depend>
<depend>diagnostic_updater</depend>
Expand Down
6 changes: 6 additions & 0 deletions velodyne_pointcloud/src/lib/rawdata.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -328,6 +328,8 @@ void RawData::unpack(
float time = 0;
if (timing_offsets_.size()) {
time = timing_offsets_[i][j] + time_diff_start_to_this_packet;
} else {
time = time_diff_start_to_this_packet;
}

if (tmp.uint == 0) { // no valid laser beam return
Expand Down Expand Up @@ -546,6 +548,8 @@ void RawData::unpack_vls128(
if (timing_offsets_.size()) {
time = timing_offsets_[block / 4][firing_order + laser_number / 64] +
time_diff_start_to_this_packet;
} else {
time = time_diff_start_to_this_packet;
}

velodyne_pointcloud::LaserCorrection & corrections =
Expand Down Expand Up @@ -811,6 +815,8 @@ void RawData::unpack_vlp16(
float time = 0;
if (timing_offsets_.size()) {
time = timing_offsets_[block][firing * 16 + dsr] + time_diff_start_to_this_packet;
} else {
time = time_diff_start_to_this_packet;
}

data.addPoint(
Expand Down