Add point time stamp of packet if no table is available

Author: thomasemter

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 {

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