Adding Ring information

[facontidavide]

Hi,

I think it would be nice to add the ring information to the pointcloud, similarly to Velodyne and Ouster.

The changes are pretty simple and I can easily send a PR myself, if you want.

What do you think?

[JangGyoungHoon]

@facontidavide

hi, Do you have a ring information added ros driver code.

If you can possible, could you give me the your code.

my mail address is [email protected]

Thanks,

gyounghoon.

[facontidavide]

I would rather create a branch here https://github.com/facontidavide/ros_rslidar

I will let you know

[facontidavide]

I had NO opportunity yet to test this (because I don't have the physical sensor with me this week), but here you can find the preliminary code.

https://github.com/facontidavide/ros_rslidar/tree/ring

@JangGyoungHoon it would be nice if you test it with RViz and see if the ring field works es expected. Let me know.

[facontidavide]

For your information, the update code is here https://github.com/facontidavide/ros_rslidar/tree/add_ring_to_pointcloud

[TillBeemelmanns]

Hi @facontidavide ,
thanks for providing the preliminary code for the ring information. Unfortunately, when I try your code, I do not obtain correct results using the RS32. The ring numbers are not in order.

Any chance that you could revisit your code ?

[facontidavide]

I moved to another job and unfortunately I don't have anymore any physical access to one of your sensors. I am afraid I don't have the ability to properly test this anymore

[nubertj]

Is there any update on this?
Having the ring information would be super useful, in particular if rings are not uniformly distributed.