Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by matlabbe on Sep 10, 2023; 11:02pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9676.html

For the ouster, I fixed the issue in this commit. For some reason, on the "t" channel of the point cloud, the time offset can reset in the middle of a scan. It seems that the ros2 driver of ouster doesn't assure that the first point has the smallest time offset. It means that the driver is assembling a Nx32 point cloud where the offset stamp can be reset in middle of N.

For Hesai, I am not sure what timestamps you are actually printing. I added more logs in commit above. Normally, the firstStamp <= Header.stamp <= lastStamp.