Merge pull request #142 from RoboSense-LiDAR/dev_opt

feat:sync to rs_driver

CHANGELOG.md

@@ -1,6 +1,13 @@
 # CHANGELOG 
 ## Unreleased
-
+## v1.5.13 2024-05-10
+### Added
+- Support RSMX.
+### Fixed
+- Update timestamp parsing unit and the number of packets per frame in decoder_RSE1.
+- Update firing_tss of Helios/Helios16P/RubyPlus.
+- Fix compilation bug of unit test.
+- Remove duplicate text "/rslidar_packets" by @luhuadong.
 ## Unreleased
 ## v1.5.12 2023-12-28
 ### Fixed

config/config.yaml

@@ -8,7 +8,7 @@ common:
 lidar:
   - driver:
       lidar_type: RSM1             #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, 
-                                   #             RSM1, RSM1_JUMBO, RSM2, RSE1
+                                   #             RSM1, RSM1_JUMBO, RSM2, RSE1, RSMX.
       msop_port: 6699              #Msop port of lidar
       difop_port: 7788             #Difop port of lidar
       start_angle: 0               #Start angle of point cloud
@@ -17,11 +17,10 @@ lidar:
       min_distance: 0.2            #Minimum distance of point cloud
       max_distance: 200            #Maximum distance of point cloud
       use_lidar_clock: false       #True--Use the lidar clock as the message timestamp
-                                   #False-- Use the system clock as the timestamp
+                                   #False-- Use the system clock as the timestamp                        
       pcap_path: /home/robosense/lidar.pcap #The path of pcap file
     ros:
       ros_frame_id: rslidar                           #Frame id of packet message and point cloud message
       ros_recv_packet_topic: /rslidar_packets          #Topic used to receive lidar packets from ROS
       ros_send_packet_topic: /rslidar_packets          #Topic used to send lidar packets through ROS
       ros_send_point_cloud_topic: /rslidar_points      #Topic used to send point cloud through ROS
-