Update to v1.0.13

unitreerobotics · Oct 9, 2023 · a06c3b0 · a06c3b0
1 parent 923780e
commit a06c3b0
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Showing 10 changed files with 11 additions and 252 deletions.
diff --git a/unitree_lidar_ros/src/unitree_lidar_ros/config/config.yaml b/unitree_lidar_ros/src/unitree_lidar_ros/config/config.yaml
@@ -24,7 +24,7 @@ range_min: 0.0                # default: 0 in meters
 # PointCloud
 cloud_frame: "unilidar_lidar"  # default: "unilidar_lidar"
 cloud_topic: "unilidar/cloud"  # default: "unilidar/cloud"
-cloud_scan_num: 2             # default: 18
+cloud_scan_num: 18             # default: 18
 
 # IMU
 imu_frame: "unilidar_imu"      # default: "unilidar_imu" 

diff --git a/unitree_lidar_ros/src/unitree_lidar_ros/include/unitree_lidar_ros_multiple.h b/unitree_lidar_ros/src/unitree_lidar_ros/include/unitree_lidar_ros_multiple.h
diff --git a/unitree_lidar_ros/src/unitree_lidar_ros/launch/run_multiple.launch b/unitree_lidar_ros/src/unitree_lidar_ros/launch/run_multiple.launch
diff --git a/unitree_lidar_ros/src/unitree_lidar_ros/src/unitree_lidar_ros_node.cpp b/unitree_lidar_ros/src/unitree_lidar_ros/src/unitree_lidar_ros_node.cpp
@@ -13,13 +13,13 @@ int main(int argc, char **argv)
   ros::NodeHandle nh;
 
   UnitreeLidarSDKNode node(nh);
-  ros::Rate rate(2000);
+  // ros::Rate rate(2000);
 
   while (nh.ok())
   {
     ros::spinOnce();
     node.run();
-    rate.sleep();
+    // rate.sleep();
   }
 
   return 0;

diff --git a/unitree_lidar_sdk/README.md b/unitree_lidar_sdk/README.md
@@ -177,6 +177,8 @@ If you want to parse point cloud from MavLink Messages which are acquired from s
 - The document is `HowToParsePointCloudAndIMUDataFromMavLinkMessages.md`
 
 ### v1.0.12 (2023.09.20)
-unitree_lidar_ros:
 - Add support of UDP interface, which can parse original bytes from a specified UDP port and send commands to lidar ip and port.
-- Update `unitree_lidar_ros`
+- Update `unitree_lidar_ros`
+
+### v1.0.13 (2023.10.09)
+- Modify the serial port reading method in `unitree_lidar_sdk`. It will block when you call `runParse()` function, waiting for the serial port to have bytes and then reading the data once.
diff --git a/unitree_lidar_sdk/examples/example_lidar.cpp b/unitree_lidar_sdk/examples/example_lidar.cpp
@@ -133,7 +133,7 @@ int main(){
       break;
     }
 
-    usleep(500);
+    // usleep(500);
   }
 
   return 0;

diff --git a/unitree_lidar_sdk/examples/example_lidar_udp.cpp b/unitree_lidar_sdk/examples/example_lidar_udp.cpp
@@ -148,7 +148,7 @@ int main(int argc, char *argv[]){
       break;
     }
 
-    usleep(500);
+    // usleep(500);
   }
 
   return 0;

diff --git a/unitree_lidar_sdk/include/unitree_lidar_sdk_config.h b/unitree_lidar_sdk/include/unitree_lidar_sdk_config.h
@@ -1,4 +1,4 @@
-#define unitree_lidar_sdk_VERSION "1.0.12"
+#define unitree_lidar_sdk_VERSION "1.0.13"
 #define unitree_lidar_sdk_VERSION_MAJOR 1
 #define unitree_lidar_sdk_VERSION_MINOR 0
-#define unitree_lidar_sdk_VERSION_PATCH 12
+#define unitree_lidar_sdk_VERSION_PATCH 13
diff --git a/unitree_lidar_sdk/lib/aarch64/libunitree_lidar_sdk.a b/unitree_lidar_sdk/lib/aarch64/libunitree_lidar_sdk.a
diff --git a/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a b/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a
-Original file line number
+Diff line change
@@ Expand Up / @@ -133,7 +133,7 @@ int main(){ @@
           break;
         }
-        usleep(500);
+        // usleep(500);
       }
       return 0;
@@ Expand Down @@