From dda64b3d6de24edad0790d7a659c03056a9373f2 Mon Sep 17 00:00:00 2001
From: Philipp Schmaelzle <philipp.schmaelzle@dlr.de>
Date: Tue, 25 Oct 2022 16:24:13 +0200
Subject: [PATCH 1/4] Add timestamp from phase_lock angle

---
 .../include/velodyne_driver/driver.h          |  3 ++
 velodyne_driver/launch/nodelet_manager.launch |  4 ++
 velodyne_driver/src/driver/driver.cc          | 41 +++++++++++++++++++
 3 files changed, 48 insertions(+)

diff --git a/velodyne_driver/include/velodyne_driver/driver.h b/velodyne_driver/include/velodyne_driver/driver.h
index ff2b7925e..398e9a3ab 100644
--- a/velodyne_driver/include/velodyne_driver/driver.h
+++ b/velodyne_driver/include/velodyne_driver/driver.h
@@ -74,15 +74,18 @@ class VelodyneDriver
     int    npackets;                 // number of packets to collect
     double rpm;                      // device rotation rate (RPMs)
     int cut_angle;                   // cutting angle in 1/100°
+    int phase_lock_angle;            // configured phase lock angle
     double time_offset;              // time in seconds added to each velodyne time stamp
     bool enabled;                    // polling is enabled
     bool timestamp_first_packet;
+    bool timestamp_phase_lock;
   }
   config_;
 
   boost::shared_ptr<Input> input_;
   ros::Publisher output_;
   int last_azimuth_;
+  int phase_lock_angle_;
 
   /* diagnostics updater */
   ros::Timer diag_timer_;
diff --git a/velodyne_driver/launch/nodelet_manager.launch b/velodyne_driver/launch/nodelet_manager.launch
index e062d5d1f..c40befe1a 100644
--- a/velodyne_driver/launch/nodelet_manager.launch
+++ b/velodyne_driver/launch/nodelet_manager.launch
@@ -16,7 +16,9 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
+  <arg name="phase_lock_angle" default="-0.01" />
   <arg name="timestamp_first_packet" default="false" />
+  <arg name="timestamp_phase_lock" default="false" />
   <arg name="diagnostic_frequency_tolerance" default="0.1" />
 
   <!-- start nodelet manager -->
@@ -37,6 +39,8 @@
     <param name="gps_time" value="$(arg gps_time)"/>
     <param name="pcap_time" value="$(arg pcap_time)"/>
     <param name="cut_angle" value="$(arg cut_angle)"/>
+    <param name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
+    <param name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
     <param name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
     <param name="diagnostic_frequency_tolerance" value="$(arg diagnostic_frequency_tolerance)"/>
   </node>
diff --git a/velodyne_driver/src/driver/driver.cc b/velodyne_driver/src/driver/driver.cc
index b9e5a4ea0..d46b08038 100644
--- a/velodyne_driver/src/driver/driver.cc
+++ b/velodyne_driver/src/driver/driver.cc
@@ -122,6 +122,12 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
   if (config_.timestamp_first_packet)
     ROS_INFO("Setting velodyne scan start time to timestamp of first packet");
 
+ // if we are timestamping based on the phase lock angle configured packet in the scan
+  private_nh.param("timestamp_phase_lock", config_.timestamp_phase_lock, false);
+  if (config_.timestamp_phase_lock)
+    ROS_INFO("Setting velodyne scan timestamp to timestamp of angle of phase lock");
+
+
   std::string dump_file;
   private_nh.param("pcap", dump_file, std::string(""));
 
@@ -147,6 +153,28 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
   // which is used in velodyne packets
   config_.cut_angle = int((cut_angle*360/(2*M_PI))*100);
 
+  double phase_lock_angle;
+  private_nh.param("phase_lock_angle", phase_lock_angle, -0.01);
+  if (phase_lock_angle < 0.0)
+  {
+    ROS_INFO_STREAM("No Phase Lock Angle provided.");
+  }
+  else if (phase_lock_angle < (2*M_PI))
+  {
+    ROS_INFO_STREAM("Phase Lock Angle configured. "
+                    "Set to " << cut_angle << " rad.");
+  }
+  else
+  {
+    ROS_ERROR_STREAM("phase_lock_angle is out of range. Allowed range is "
+                       << "between 0.0 and 2*PI or negative values to deactivate this feature.");
+    phase_lock_angle = -0.01;
+  }
+
+  // Convert phase_lock_angle from radian to one-hundredth degree,
+  // which is used in velodyne packets
+  config_.phase_lock_angle = int((phase_lock_angle*360/(2*M_PI))*100);
+
   int udp_port;
   private_nh.param("port", udp_port, (int) DATA_PORT_NUMBER);
 
@@ -213,6 +241,8 @@ bool VelodyneDriver::poll(void)
   // Allocate a new shared pointer for zero-copy sharing with other nodelets.
   velodyne_msgs::VelodyneScanPtr scan(new velodyne_msgs::VelodyneScan);
 
+  ros::Time phase_lock_time;
+
   if( config_.cut_angle >= 0) //Cut at specific angle feature enabled
   {
     scan->packets.reserve(config_.npackets);
@@ -237,6 +267,14 @@ bool VelodyneDriver::poll(void)
       	 last_azimuth_ = azimuth;
       	 continue;
       }
+
+      if((last_azimuth_ < config_.phase_lock_angle && config_.phase_lock_angle <= azimuth)
+         || ( config_.phase_lock_angle <= azimuth && azimuth < last_azimuth_)
+         || (azimuth < last_azimuth_ && last_azimuth_ < config_.phase_lock_angle))
+      {
+        phase_lock_time = tmp_packet.stamp;
+      }
+
       if((last_azimuth_ < config_.cut_angle && config_.cut_angle <= azimuth)
       	 || ( config_.cut_angle <= azimuth && azimuth < last_azimuth_)
       	 || (azimuth < last_azimuth_ && last_azimuth_ < config_.cut_angle))
@@ -270,6 +308,9 @@ bool VelodyneDriver::poll(void)
   if (config_.timestamp_first_packet){
     scan->header.stamp = scan->packets.front().stamp;
   }
+  else if(config_.timestamp_phase_lock && config_.phase_lock_angle >= 0.0){
+    scan->header.stamp = phase_lock_time;
+  }
   else{
     scan->header.stamp = scan->packets.back().stamp;
   }

From 105ee421687365435a70719bf9c4afff216d350e Mon Sep 17 00:00:00 2001
From: Philipp Schmaelzle <philipp.schmaelzle@dlr.de>
Date: Tue, 25 Oct 2022 16:27:53 +0200
Subject: [PATCH 2/4] Add parameters to configure timestamp at phase_lock angle
 to launch files

---
 velodyne_pointcloud/launch/32e_points.launch     | 4 ++++
 velodyne_pointcloud/launch/64e_S3.launch         | 4 ++++
 velodyne_pointcloud/launch/VLP-32C_points.launch | 4 ++++
 velodyne_pointcloud/launch/VLP16_points.launch   | 4 ++++
 velodyne_pointcloud/launch/VLS128_points.launch  | 4 ++++
 5 files changed, 20 insertions(+)

diff --git a/velodyne_pointcloud/launch/32e_points.launch b/velodyne_pointcloud/launch/32e_points.launch
index 9449f103c..e38cd11f7 100755
--- a/velodyne_pointcloud/launch/32e_points.launch
+++ b/velodyne_pointcloud/launch/32e_points.launch
@@ -19,6 +19,8 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
+  <arg name="phase_lock_angle" default="-0.01" />
+  <arg name="timestamp_phase_lock" default="false" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -39,6 +41,8 @@
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
+    <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
+    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/64e_S3.launch b/velodyne_pointcloud/launch/64e_S3.launch
index c3c677448..764aa8ac8 100755
--- a/velodyne_pointcloud/launch/64e_S3.launch
+++ b/velodyne_pointcloud/launch/64e_S3.launch
@@ -19,6 +19,8 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
+  <arg name="phase_lock_angle" default="-0.01" />
+  <arg name="timestamp_phase_lock" default="false" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -39,6 +41,8 @@
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
+    <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
+    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/VLP-32C_points.launch b/velodyne_pointcloud/launch/VLP-32C_points.launch
index 5043db785..3c717aaac 100755
--- a/velodyne_pointcloud/launch/VLP-32C_points.launch
+++ b/velodyne_pointcloud/launch/VLP-32C_points.launch
@@ -19,6 +19,8 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
+  <arg name="phase_lock_angle" default="-0.01" />
+  <arg name="timestamp_phase_lock" default="false" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -39,6 +41,8 @@
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
+    <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
+    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/VLP16_points.launch b/velodyne_pointcloud/launch/VLP16_points.launch
index 63463768e..b2adc6aa1 100755
--- a/velodyne_pointcloud/launch/VLP16_points.launch
+++ b/velodyne_pointcloud/launch/VLP16_points.launch
@@ -19,6 +19,8 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
+  <arg name="phase_lock_angle" default="-0.01" />
+  <arg name="timestamp_phase_lock" default="false" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -39,6 +41,8 @@
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
+    <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
+    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/VLS128_points.launch b/velodyne_pointcloud/launch/VLS128_points.launch
index da49ef723..5d908d9f6 100644
--- a/velodyne_pointcloud/launch/VLS128_points.launch
+++ b/velodyne_pointcloud/launch/VLS128_points.launch
@@ -18,6 +18,8 @@
   <arg name="rpm" default="600.0" />
   <arg name="gps_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
+  <arg name="phase_lock_angle" default="-0.01" />
+  <arg name="timestamp_phase_lock" default="false" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -37,6 +39,8 @@
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
+    <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
+    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 

From 502037a1bd0ae9fac7625565ab14b4fb6e414371 Mon Sep 17 00:00:00 2001
From: Philipp Schmaelzle <philipp.schmaelzle@dlr.de>
Date: Wed, 26 Oct 2022 09:31:57 +0200
Subject: [PATCH 3/4] Redo timestamp from phase lock to be more generic.
 timestamp from angle.

---
 .../include/velodyne_driver/driver.h          |  4 +-
 velodyne_driver/launch/nodelet_manager.launch |  6 +--
 velodyne_driver/src/driver/driver.cc          | 45 +++++++++----------
 velodyne_pointcloud/launch/32e_points.launch  |  5 +--
 velodyne_pointcloud/launch/64e_S3.launch      |  5 +--
 .../launch/VLP-32C_points.launch              |  5 +--
 .../launch/VLP16_points.launch                |  6 +--
 .../launch/VLS128_points.launch               |  5 +--
 8 files changed, 34 insertions(+), 47 deletions(-)

diff --git a/velodyne_driver/include/velodyne_driver/driver.h b/velodyne_driver/include/velodyne_driver/driver.h
index 398e9a3ab..7b2dc360e 100644
--- a/velodyne_driver/include/velodyne_driver/driver.h
+++ b/velodyne_driver/include/velodyne_driver/driver.h
@@ -74,18 +74,16 @@ class VelodyneDriver
     int    npackets;                 // number of packets to collect
     double rpm;                      // device rotation rate (RPMs)
     int cut_angle;                   // cutting angle in 1/100°
-    int phase_lock_angle;            // configured phase lock angle
+    int timestamp_angle;            // configured phase lock angle
     double time_offset;              // time in seconds added to each velodyne time stamp
     bool enabled;                    // polling is enabled
     bool timestamp_first_packet;
-    bool timestamp_phase_lock;
   }
   config_;
 
   boost::shared_ptr<Input> input_;
   ros::Publisher output_;
   int last_azimuth_;
-  int phase_lock_angle_;
 
   /* diagnostics updater */
   ros::Timer diag_timer_;
diff --git a/velodyne_driver/launch/nodelet_manager.launch b/velodyne_driver/launch/nodelet_manager.launch
index c40befe1a..23f03b0f0 100644
--- a/velodyne_driver/launch/nodelet_manager.launch
+++ b/velodyne_driver/launch/nodelet_manager.launch
@@ -16,9 +16,8 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
-  <arg name="phase_lock_angle" default="-0.01" />
+  <arg name="timestamp_angle" default="-0.01" />
   <arg name="timestamp_first_packet" default="false" />
-  <arg name="timestamp_phase_lock" default="false" />
   <arg name="diagnostic_frequency_tolerance" default="0.1" />
 
   <!-- start nodelet manager -->
@@ -39,8 +38,7 @@
     <param name="gps_time" value="$(arg gps_time)"/>
     <param name="pcap_time" value="$(arg pcap_time)"/>
     <param name="cut_angle" value="$(arg cut_angle)"/>
-    <param name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
-    <param name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
+    <param name="timestamp_angle" value="$(arg timestamp_angle)"/>
     <param name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
     <param name="diagnostic_frequency_tolerance" value="$(arg diagnostic_frequency_tolerance)"/>
   </node>
diff --git a/velodyne_driver/src/driver/driver.cc b/velodyne_driver/src/driver/driver.cc
index d46b08038..019b4b2ba 100644
--- a/velodyne_driver/src/driver/driver.cc
+++ b/velodyne_driver/src/driver/driver.cc
@@ -122,12 +122,6 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
   if (config_.timestamp_first_packet)
     ROS_INFO("Setting velodyne scan start time to timestamp of first packet");
 
- // if we are timestamping based on the phase lock angle configured packet in the scan
-  private_nh.param("timestamp_phase_lock", config_.timestamp_phase_lock, false);
-  if (config_.timestamp_phase_lock)
-    ROS_INFO("Setting velodyne scan timestamp to timestamp of angle of phase lock");
-
-
   std::string dump_file;
   private_nh.param("pcap", dump_file, std::string(""));
 
@@ -153,27 +147,30 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
   // which is used in velodyne packets
   config_.cut_angle = int((cut_angle*360/(2*M_PI))*100);
 
-  double phase_lock_angle;
-  private_nh.param("phase_lock_angle", phase_lock_angle, -0.01);
-  if (phase_lock_angle < 0.0)
+  double timestamp_angle;
+  private_nh.param("timestamp_angle", timestamp_angle, -0.01);
+  if (timestamp_angle < 0.0)
   {
-    ROS_INFO_STREAM("No Phase Lock Angle provided.");
+    ROS_INFO_STREAM("Time at specific angle feature deactivated.");
   }
-  else if (phase_lock_angle < (2*M_PI))
+  else if (timestamp_angle < (2*M_PI))
   {
-    ROS_INFO_STREAM("Phase Lock Angle configured. "
-                    "Set to " << cut_angle << " rad.");
+    ROS_INFO_STREAM("Time at specific angle feature activated. "
+                    "Set to " << timestamp_angle << " rad.");
+    if (config_.timestamp_first_packet){
+      ROS_ERROR_STREAM("timestamp_first_packet AND timestamp_angle configured! timestamp_first_packet will be used!");
+    }
   }
   else
   {
-    ROS_ERROR_STREAM("phase_lock_angle is out of range. Allowed range is "
+    ROS_ERROR_STREAM("timestamp_angle is out of range. Allowed range is "
                        << "between 0.0 and 2*PI or negative values to deactivate this feature.");
-    phase_lock_angle = -0.01;
+    timestamp_angle = -0.01;
   }
 
-  // Convert phase_lock_angle from radian to one-hundredth degree,
+  // Convert timestamp_angle from radian to one-hundredth degree,
   // which is used in velodyne packets
-  config_.phase_lock_angle = int((phase_lock_angle*360/(2*M_PI))*100);
+  config_.timestamp_angle = int((timestamp_angle*360/(2*M_PI))*100);
 
   int udp_port;
   private_nh.param("port", udp_port, (int) DATA_PORT_NUMBER);
@@ -241,7 +238,7 @@ bool VelodyneDriver::poll(void)
   // Allocate a new shared pointer for zero-copy sharing with other nodelets.
   velodyne_msgs::VelodyneScanPtr scan(new velodyne_msgs::VelodyneScan);
 
-  ros::Time phase_lock_time;
+  ros::Time time_angle;
 
   if( config_.cut_angle >= 0) //Cut at specific angle feature enabled
   {
@@ -268,11 +265,11 @@ bool VelodyneDriver::poll(void)
       	 continue;
       }
 
-      if((last_azimuth_ < config_.phase_lock_angle && config_.phase_lock_angle <= azimuth)
-         || ( config_.phase_lock_angle <= azimuth && azimuth < last_azimuth_)
-         || (azimuth < last_azimuth_ && last_azimuth_ < config_.phase_lock_angle))
+      if((last_azimuth_ < config_.timestamp_angle && config_.timestamp_angle <= azimuth)
+         || ( config_.timestamp_angle <= azimuth && azimuth < last_azimuth_)
+         || (azimuth < last_azimuth_ && last_azimuth_ < config_.timestamp_angle))
       {
-        phase_lock_time = tmp_packet.stamp;
+        time_angle = tmp_packet.stamp;
       }
 
       if((last_azimuth_ < config_.cut_angle && config_.cut_angle <= azimuth)
@@ -308,8 +305,8 @@ bool VelodyneDriver::poll(void)
   if (config_.timestamp_first_packet){
     scan->header.stamp = scan->packets.front().stamp;
   }
-  else if(config_.timestamp_phase_lock && config_.phase_lock_angle >= 0.0){
-    scan->header.stamp = phase_lock_time;
+  else if(config_.timestamp_angle >= 0.0){
+    scan->header.stamp = time_angle;
   }
   else{
     scan->header.stamp = scan->packets.back().stamp;
diff --git a/velodyne_pointcloud/launch/32e_points.launch b/velodyne_pointcloud/launch/32e_points.launch
index e38cd11f7..9eb9a3a09 100755
--- a/velodyne_pointcloud/launch/32e_points.launch
+++ b/velodyne_pointcloud/launch/32e_points.launch
@@ -19,8 +19,7 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
-  <arg name="phase_lock_angle" default="-0.01" />
-  <arg name="timestamp_phase_lock" default="false" />
+  <arg name="timestamp_angle" default="-0.01" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -42,7 +41,7 @@
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
     <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
-    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
+    <arg name="timestamp_angle" value="$(arg timestamp_angle)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/64e_S3.launch b/velodyne_pointcloud/launch/64e_S3.launch
index 764aa8ac8..29821ff31 100755
--- a/velodyne_pointcloud/launch/64e_S3.launch
+++ b/velodyne_pointcloud/launch/64e_S3.launch
@@ -19,8 +19,7 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
-  <arg name="phase_lock_angle" default="-0.01" />
-  <arg name="timestamp_phase_lock" default="false" />
+  <arg name="timestamp_angle" default="-0.01" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -42,7 +41,7 @@
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
     <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
-    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
+    <arg name="timestamp_angle" value="$(arg timestamp_angle)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/VLP-32C_points.launch b/velodyne_pointcloud/launch/VLP-32C_points.launch
index 3c717aaac..61072664f 100755
--- a/velodyne_pointcloud/launch/VLP-32C_points.launch
+++ b/velodyne_pointcloud/launch/VLP-32C_points.launch
@@ -19,8 +19,7 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
-  <arg name="phase_lock_angle" default="-0.01" />
-  <arg name="timestamp_phase_lock" default="false" />
+  <arg name="timestamp_angle" default="-0.01" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -42,7 +41,7 @@
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
     <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
-    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
+    <arg name="timestamp_angle" value="$(arg timestamp_angle)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/VLP16_points.launch b/velodyne_pointcloud/launch/VLP16_points.launch
index b2adc6aa1..435f4188e 100755
--- a/velodyne_pointcloud/launch/VLP16_points.launch
+++ b/velodyne_pointcloud/launch/VLP16_points.launch
@@ -19,8 +19,7 @@
   <arg name="gps_time" default="false" />
   <arg name="pcap_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
-  <arg name="phase_lock_angle" default="-0.01" />
-  <arg name="timestamp_phase_lock" default="false" />
+  <arg name="timestamp_angle" default="-0.01" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -41,8 +40,7 @@
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
-    <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
-    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
+    <arg name="timestamp_angle" value="$(arg timestamp_angle)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 
diff --git a/velodyne_pointcloud/launch/VLS128_points.launch b/velodyne_pointcloud/launch/VLS128_points.launch
index 5d908d9f6..e08526b5d 100644
--- a/velodyne_pointcloud/launch/VLS128_points.launch
+++ b/velodyne_pointcloud/launch/VLS128_points.launch
@@ -18,8 +18,7 @@
   <arg name="rpm" default="600.0" />
   <arg name="gps_time" default="false" />
   <arg name="cut_angle" default="-0.01" />
-  <arg name="phase_lock_angle" default="-0.01" />
-  <arg name="timestamp_phase_lock" default="false" />
+  <arg name="timestamp_angle" default="-0.01" />
   <arg name="timestamp_first_packet" default="false" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
@@ -40,7 +39,7 @@
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
     <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
-    <arg name="timestamp_phase_lock" value="$(arg timestamp_phase_lock)"/>
+    <arg name="timestamp_angle" value="$(arg timestamp_angle)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>
 

From 809356792671a296b70e505552af9fdc07dd7e3c Mon Sep 17 00:00:00 2001
From: PhilippSchmaelzle <64705964+PhilippSchmaelzle@users.noreply.github.com>
Date: Wed, 9 Nov 2022 09:42:27 +0100
Subject: [PATCH 4/4] fix leftovers in launch file

---
 velodyne_pointcloud/launch/VLP-32C_points.launch | 1 -
 1 file changed, 1 deletion(-)

diff --git a/velodyne_pointcloud/launch/VLP-32C_points.launch b/velodyne_pointcloud/launch/VLP-32C_points.launch
index 61072664f..1c028a138 100755
--- a/velodyne_pointcloud/launch/VLP-32C_points.launch
+++ b/velodyne_pointcloud/launch/VLP-32C_points.launch
@@ -40,7 +40,6 @@
     <arg name="gps_time" value="$(arg gps_time)"/>
     <arg name="pcap_time" value="$(arg pcap_time)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
-    <arg name="phase_lock_angle" value="$(arg phase_lock_angle)"/>
     <arg name="timestamp_angle" value="$(arg timestamp_angle)"/>
     <arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
   </include>