From c8b64a07446e0effd3a50fb529596b65b30e3a0e Mon Sep 17 00:00:00 2001 From: "felix.huang" Date: Fri, 10 May 2024 17:04:17 +0800 Subject: [PATCH] feat:sync to rs_driver --- CHANGELOG.md | 9 ++++++++- config/config.yaml | 5 ++--- doc/src_intro/rslidar_sdk_intro_CN.md | 2 +- src/rs_driver | 2 +- 4 files changed, 12 insertions(+), 6 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 969734b4..f6365484 100644 --- a/CHANGELOG.md +++ b/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 diff --git a/config/config.yaml b/config/config.yaml index 77b90ed7..4e0ab7c7 100644 --- a/config/config.yaml +++ b/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 - diff --git a/doc/src_intro/rslidar_sdk_intro_CN.md b/doc/src_intro/rslidar_sdk_intro_CN.md index 99815030..e56337c7 100644 --- a/doc/src_intro/rslidar_sdk_intro_CN.md +++ b/doc/src_intro/rslidar_sdk_intro_CN.md @@ -16,7 +16,7 @@ rslidar_sdk的基本功能如下： ## 2 Source 与 Destination -如前面所说，rslidar_sdk从在线雷达、PCAP文件、ROS主题这三种源得到MSOP/DIFOP Packet，将Packet发布到ROS主题/rslidar_packets`/rslidar_packets`，将点云发布到目标 - ROS主题`/rslidar_points`。 +如前面所说，rslidar_sdk从在线雷达、PCAP文件、ROS主题这三种源得到MSOP/DIFOP Packet，将Packet发布到ROS主题`/rslidar_packets`，将点云发布到目标 - ROS主题`/rslidar_points`。 + Source定义源接口 + DestinationPointCloud定义发送点云的目标接口。 + DestinationPacket定义发送MSOP/DIFOP Packet的目标接口。 diff --git a/src/rs_driver b/src/rs_driver index e3428806..68859d49 160000 --- a/src/rs_driver +++ b/src/rs_driver @@ -1 +1 @@ -Subproject commit e34288068ab07a671a4a65083a78b189dc706f38 +Subproject commit 68859d49373adcdb6ef2ea328d075164ee89d9e9