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Feature/add frequency tolerance parameter #1

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Feature/add frequency tolerance parameter #1

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80a8509
Add frequency tolerance parameter
Aug 1, 2022
6c50bba
Add frequency tolerance variable
Aug 1, 2022
fccdc36
Set configured topic tolerance in diagnostics
Aug 1, 2022
4009b0d
Remove parameter from dynamic config struct
Aug 2, 2022
d3abc8a
Remove parameter from dynamic config
Aug 2, 2022
52ed9d0
Make frequency tolerance a regular parameter
Aug 2, 2022
803eb2a
Remove leftover variable assigment
Aug 2, 2022
ce69f96
Update parameter name
Aug 2, 2022
45c5423
Add parameter to launch
Aug 4, 2022
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4 changes: 3 additions & 1 deletion velodyne_driver/launch/nodelet_manager.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
<arg name="pcap_time" default="false" />
<arg name="cut_angle" default="-0.01" />
<arg name="timestamp_first_packet" default="false" />
<arg name="diagnostic_frequency_tolerance" default="0.1" />

<!-- start nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
Expand All @@ -37,6 +38,7 @@
<param name="pcap_time" value="$(arg pcap_time)"/>
<param name="cut_angle" value="$(arg cut_angle)"/>
<param name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
</node>
<param name="diagnostic_frequency_tolerance" value="$(arg diagnostic_frequency_tolerance)"/>
</node>

</launch>
8 changes: 5 additions & 3 deletions velodyne_driver/src/driver/driver.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,7 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
}
else if (cut_angle < (2*M_PI))
{
ROS_INFO_STREAM("Cut at specific angle feature activated. "
ROS_INFO_STREAM("Cut at specific angle feature activated. "
"Cutting velodyne points always at " << cut_angle << " rad.");
}
else
Expand All @@ -143,7 +143,7 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
cut_angle = -0.01;
}

// Convert cut_angle from radian to one-hundredth degree,
// Convert cut_angle from radian to one-hundredth degree,
// which is used in velodyne packets
config_.cut_angle = int((cut_angle*360/(2*M_PI))*100);

Expand All @@ -165,11 +165,13 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
diag_min_freq_ = diag_freq;
ROS_INFO("expected frequency: %.3f (Hz)", diag_freq);

double diagnostic_frequency_tolerance;
private_nh.param("diagnostic_frequency_tolerance", diagnostic_frequency_tolerance, 0.1);
using namespace diagnostic_updater;
diag_topic_.reset(new TopicDiagnostic("velodyne_packets", diagnostics_,
FrequencyStatusParam(&diag_min_freq_,
&diag_max_freq_,
0.1, 10),
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diagnostic_frequency_tolerance, 10),
TimeStampStatusParam()));
diag_timer_ = private_nh.createTimer(ros::Duration(0.2), &VelodyneDriver::diagTimerCallback,this);

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