Serialize the Laser Scanner

asked 2021-02-15 14:39:40 -0500

Hi all,

My team is trying to take the lidar data that is sent at 20Hz and split each packet into sub packets. Thus instead of getting data at 20Hz you're getting data at closer to 1200Hz. The program that receives the data likes a faster but smaller stream. At first I thought you could do this by subdividing the packets on the ROS side. This doesn't work as you're capped by what the ray can generate. And if you spit packets at 20 Hz after receiving them you're just slowing it down. I've successfully compiled gazebo from source and I'm trying to figure out where to split these packets. I think it's in RaySensor or MultiRayShape, but if someone with more experience on Gazebo development can give some pointers I would appreciate it.

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