Velodyne hdl 32 model's update rate

Hi, guys. I'm using the gazebo-11 for the Velodyne hdl32 simulator, and I just finish the tutorial session(http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i1)

Now, I have a question for "update_rate" of Velodyne hdl 32.

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The model sets the value of update_rate as 30. This means collecting information 30 times per second, but as far as I know the number of points collected in a second is 695,000 points. And I found that the maximum update rate of simulator is 1000, which means I have maximum collecting points as 32000(32 firing cycles * update rate 1000) as I understand so far.And this number 1000 is that I got from listener message.

So is there any other special meaning in updaterate or you guys intentionally set the maximum collecting point by using updaterate due to simulator performance or something?

Hope for your kind answers!

Asked by Doba on 2021-02-03 13:18:46 UTC

Comments

Answers

I believe the update_rate used in the tutorial was chosen some what arbitrarily. 30Hz is usually good enough for most use cases. You are free to adjust the update_rate based on your use_case. The higher you go the greater the impact on performance.

Asked by nkoenig on 2021-02-05 10:41:02 UTC