diff --git a/system/velodyne_monitor/Readme.md b/system/velodyne_monitor/Readme.md index 3e508375fd801..f8381dbd41159 100644 --- a/system/velodyne_monitor/Readme.md +++ b/system/velodyne_monitor/Readme.md @@ -4,6 +4,8 @@ This node monitors the status of Velodyne LiDARs. The result of the status is published as diagnostics. +Take care not to use this diagnostics to decide the lidar error. +Please read [Assumptions / Known limits](#assumptions--known-limits) for the detail reason. ## Inner-workings / Algorithms @@ -75,4 +77,7 @@ Now, `VLP-16.param.yaml` is used as default argument because it is lowest spec. ## Assumptions / Known limits -TBD. +This node uses the [http_client](https://github.com/microsoft/cpprestsdk) and request results by GET method. +It takes a few seconds to get results, or generate a timeout exception if it does not succeed the GET request. +This occurs frequently and the diagnostics aggregator output STALE. +Therefore I recommend to stop using this results to decide the lidar error, and only monitor it to confirm lidar status.