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Velodyne hdl 32 model's update rate

asked 2021-02-03 12:18:46 -0500

Doba gravatar image

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.

image description

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 update_rate or you guys intentionally set the maximum collecting point by using update_rate due to simulator performance or something?

Hope for your kind answers!

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answered 2021-02-05 09:41:02 -0500

nkoenig gravatar image

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.

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Asked: 2021-02-03 12:18:46 -0500

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Last updated: Feb 05