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Publishing PointCloud2 with ROS timestamp #148

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Publishing PointCloud2 with ROS timestamp #148

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3 changes: 2 additions & 1 deletion livox_ros_driver/livox_ros_driver/lddc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,7 +203,8 @@ uint32_t Lddc::PublishPointcloud2(LidarDataQueue *queue, uint32_t packet_num,
}
/** Use the first packet timestamp as pointcloud2 msg timestamp */
if (!published_packet) {
cloud.header.stamp = ros::Time(timestamp / 1000000000.0);
//cloud.header.stamp = ros::Time(timestamp / 1000000000.0);
cloud.header.stamp = ros::Time::now();
}
uint32_t single_point_num = storage_packet.point_num * echo_num;

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