Disable cut_angle by default. (#497)

ros-drivers · May 27, 2023 · 026a4f0 · 026a4f0
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/velodyne_driver/README.md b/velodyne_driver/README.md
@@ -20,5 +20,5 @@ Parameters
 * `model` (string) - The model number of the Velodyne attached.  This should be one of `64E`, `64E_S2`, `64E_S2.1`, `64E_S3`, `32E`, `32C`, or `VLP16`.  Defaults to `64E`.
 * `rpm` (double) - The RPM that the Velodyne is configured for.  Note that this is descriptive, not prescriptive, so this should be set to match the value configured through the Velodyne web interface.
 * `pcap` (string) - The PCAP playback file to use to playback data from.  Only used in PCAP playback mode.  Defaults to the empty string.
-* `cut_angle` (double) - The azimuth angle at which to declare a single rotation complete.  If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation.  This mostly works, but can vary because of variations in the hardware.  If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value.  Defaults to 2*Pi.
+* `cut_angle` (double) - The azimuth angle at which to declare a single rotation complete.  If this is less than 0, then a fixed number of packets (device-dependent) is used per rotation.  This mostly works, but can vary because of variations in the hardware.  If a positive number <= 2*Pi, a rotation will be declared "complete" when the azimuth reported by the device reaches that value.  Defaults to -1.0.
 * `port` (int) - The port on which to receive data from the Velodyne.  From the factory, the Velodyne is configured to publish data on 2368.  Defaults to 2368.
diff --git a/velodyne_driver/include/velodyne_driver/driver.hpp b/velodyne_driver/include/velodyne_driver/driver.hpp
@@ -68,7 +68,7 @@ class VelodyneDriver final : public rclcpp::Node
     std::string model;               // device model name
     int npackets;                    // number of packets to collect
     double rpm;                      // device rotation rate (RPMs)
-    int cut_angle;                   // cutting angle in 1/100°
+    int cut_angle;                   // cutting angle in radians
     double time_offset;              // time in seconds added to each velodyne time stamp
     bool enabled;                    // polling is enabled
     bool timestamp_first_packet;     // timestamp based on first packet instead of last one

diff --git a/velodyne_driver/src/driver/driver.cpp b/velodyne_driver/src/driver/driver.cpp
@@ -78,7 +78,7 @@ VelodyneDriver::VelodyneDriver(const rclcpp::NodeOptions & options)
   config_.model = this->declare_parameter("model", std::string("64E"));
   config_.rpm = this->declare_parameter("rpm", 600.0);
   std::string dump_file = this->declare_parameter("pcap", std::string(""));
-  double cut_angle = this->declare_parameter("cut_angle", 2.0 * M_PI);
+  double cut_angle = this->declare_parameter("cut_angle", -1.0);
   int udp_port = this->declare_parameter("port", static_cast<int>(DATA_PORT_NUMBER));
   config_.timestamp_first_packet = this->declare_parameter("timestamp_first_packet", false);