Hello ROS community, I'm an hobbist, ROS enthusiast and this is my first question on this community.
I've successfully created a small lidar equipment(based on VL53L0X sensor + ESP8266 +stepper motor, without slipring ) and the relevant ROS node (kinetic) publishing sensor_msgs::LaserScan messages.
The motion is given by a stepping motor going alternatively CW and CCW (for a range of 270 deg limited by a couple of end-switches). Unfortunately VL53L0X acquisition time is around 23mSec, limiting scanning speed to less than 1 Hz (unless reducing scan_msg->ranges_length).
Currently,the scan/acquisition phase is limited to Countrclowise motion, but I'd like to increase scan cycle frequency (i.e. to reduce scan_msg->scan_time) , exploiting also the returning phase of motor, when it is moving clockwise.
My question is if is it possible to correctly send a scan message derived from an acquisition phase made when the motor is moving in clockwise direction.
It is not a problem to reverse the sensor data array (scan_msg->ranges[i]) , but what about time? (samples successive in time cannot be placed in the past). Is there any solution or CW sampling is definitively not allowed? Thank you in advance.
Originally posted by luke1962 on ROS Answers with karma: 3 on 2018-02-26
Post score: 0