Merge branch 'dev' into 'master'

optimize computational efficiency See merge request SoftwareTeam/GeneralSoftware/HesaiLidar_General_ROS!7
HesaiTechnology · Jan 6, 2021 · 035e54d · 035e54d
2 parents afdbffe + 5a418e3
commit 035e54d
Show file tree

Hide file tree

Showing 7 changed files with 190 additions and 92 deletions.
diff --git a/README.md b/README.md
@@ -65,6 +65,16 @@ Make sure parameters above set to the same with Lidar setting
 
 Data source will be from pcap file once "pcap_file" not empty 
 
+**Reciving data from rosbag: config data_type and publish_type,leave the pcap_file empty**
+|Parameter | Value|
+|---------|---------------|
+|pcap_file ||
+|publish_type |points|　
+|data_type |rosbag|
+
+Data source will be from rosbag when "pcap_file" is set to empty and "data_type" is set to "rosbag"
+Make sure the parameter "publish_type" is set to "points"
+Make sure the parameter "namespace" in file hesai_lidar.launch is same with the namespace in rosbag
 
 ## Run
 
@@ -74,22 +84,22 @@ $ source install/setup.bash
 ```
 ```
 for PandarQT
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarQT"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarQT" frame_id:="PandarQT"
 for Pandar64
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar64"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar64" frame_id:="Pandar64"
 for Pandar20A
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20A"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20A" frame_id:="Pandar20A"
 for Pandar20B
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20B"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20B" frame_id:="Pandar20B"
 for Pandar40P
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40P"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40P" frame_id:="Pandar40P"
 for Pandar40M
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40M"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40M" frame_id:="Pandar40M"
 for PandarXT-32
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-32"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-32" frame_id:="PandarXT-32"
 for PandarXT-16
-$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-16"
+$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-16" frame_id:="PandarXT-16"
 ```
 2. The driver will publish PointCloud messages to the topic `/pandar`  
 3. Open Rviz and add display by topic  
-4. Change fixed frame to lidar_type to view published point clouds  
+4. Change fixed frame to frame_id to view published point clouds  
diff --git a/change notes.md b/change notes.md
@@ -20,4 +20,13 @@ PandarGeneralROS_1.1.1
 PandarGeneralROS_1.1.2
 
 ##modify
-1. modify msg data size 
+1. modify msg data size 
+
+星期二, 05. 一月 2021 17:00下午 
+##version
+PandarGeneralROS_1.1.3
+
+##modify
+1. fix the problem in playing rosbag when timestamp is realtime
+2. optimize computational efficiency 
+3. change readme
diff --git a/launch/hesai_lidar.launch b/launch/hesai_lidar.launch
@@ -12,7 +12,7 @@
 	<arg name="publish_type" default="points"/>
 	<arg name="timestamp_type" default=""/>
 	<arg name="data_type" default=""/>
-	<arg name="namespace" default=""/>
+	<arg name="namespace" default="hesai"/>
 	<arg name="lidar_correction_file"  default="$(find hesai_lidar)/config/correction.csv"/>
 
 	<node pkg="hesai_lidar" name="hesai_lidar" ns="$(arg namespace)" type="hesai_lidar_node" output="screen" >

diff --git a/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/include/version.h b/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/include/version.h
@@ -21,7 +21,7 @@
 #include <unistd.h>
 #include <string>
 
-#define VERSION "PandarGeneralSDK_1.1.2"
+#define VERSION "PandarGeneralSDK_1.1.3"
 #ifdef __cplusplus
 extern "C" {
 #endif