Add point time stamp of packet if no table is available

ros-drivers · Jul 11, 2024 · 09536ad · 09536ad
1 parent a714578
commit 09536ad
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/velodyne_pointcloud/src/lib/calibration.cpp b/velodyne_pointcloud/src/lib/calibration.cpp
@@ -235,7 +235,7 @@ Calibration::Calibration(const std::string & calibration_file)
   std::ifstream fin(calibration_file.c_str());
 
   if (!fin.is_open()) {
-    throw std::runtime_error("Failed to open calibration file");
+    throw std::runtime_error("Failed to open calibration file " + calibration_file);
   }
 
   try {

diff --git a/velodyne_pointcloud/src/lib/rawdata.cpp b/velodyne_pointcloud/src/lib/rawdata.cpp
@@ -329,6 +329,8 @@ void RawData::unpack(
         if (timing_offsets_.size()) {
           time = timing_offsets_[i][j] + time_diff_start_to_this_packet;
         }
+        else
+          time = time_diff_start_to_this_packet;
 
         if (tmp.uint == 0) {  // no valid laser beam return
           // call to addPoint is still required since output could be organized