Skip to content

[ROS2][refact] Improve conversion node

Tong Fu requested to merge ROS2/refact/RefactConversionNodes into feat/ROS2

Goal

Previously, LiDAR conversion node considered pointclouds from LiDAR driver provides points sorted by time. The goal of this MR is to adapt LiDAR conversion node to manage the ill situation. Here is an example of a bad frame from Ouster driver which contains NaN value and bad timestamp order: frame1844.475309.csv

An issue has been mentioned in the Ouster driver repo.

Changes

  • Find the min and max value of time in the pointcloud to compute duration
  • Use valid points to estimate time and rotation sense
  • Check SLAM pointcloud before publishing it

What remains to solv

Edited by Tong Fu

Merge request reports