Cant see lidar on RVIZ
ArielMechatronicLab opened this issue · 1 comments
hello everyone, i want to connect my ouster lidar to URDF file to use with RVIZ i get this message: Message Filter dropping message: frame 'lidar_front_joint' at time 5265.887 for reason 'discarding message because the queue is full'
but there is no problem with my TF or something i need the lidar rays to move with the car, in the URDF file i created lidar and lidar joint. in the ouster driver params Yaml file this is my settings
ouster_driver: ros__parameters: lidar_ip: 10.5.5.76
computer_ip: 10.5.5.1
lidar_mode: "2048x10" #"1024x10"
imu_port: 7503
lidar_port: 7502
sensor_frame: lidar_front #laser_sensor_frame
laser_frame: lidar_front_joint #laser_data_frame
imu_frame: imu_data_frame
please help me!
Just guessing from the timestamp you have set the "timestamp_mode" paramater to "TIME_FROM_INTERNAL_OSC". Since the timestamps in the point cloud messages are not correct RVIZ won't display them. For now you can set the parameter to "TIME_FROM_ROS_RECEPTION", but in the future you should time synchronize it by using PTP, especially if is for an automotive project. To do that you will want to follow this guide: https://static.ouster.dev/sensor-docs/image_route1/image_route2/appendix/ptp-quickstart.html.
The guide may be a bit outdated. If you are working with Ubuntu 22.04 then your phc2sys service will need to look like this:
[Service]
ExecStart=
ExecStart=/usr/sbin/phc2sys -w -s CLOCK_REALTIME -c eno2 -O 0
Hope this helped!