XT32M2X, timestamp is 1589945405.xxxxxxxx . is there any problem? Thanks

[zhuYL8842]

Hi,
Lidar is XT32M2X, the msg timestamp is 1589945405.xxxxxxxx, which convert to real time is 2020-5-20.
If i want to use system time, is there anywhere to set the timestamp in code or lidar setting?
Thanks.

[EduJorquera]

@zhuYL8842 I'm having the same issue. DId you find any solution?

[911527016]

没找到具体的解决方法所以我尝试手动修改源码，将每个点的timestamp改为当前系统时间
修改文件 HesaiLidar_ROS_2.0/src/manager/source_driver_ros2.hpp
头文件加一个 #include <rclcpp/clock.hpp>
在218行加入
rclcpp::Clock clock(RCL_ROS_TIME);
rclcpp::Time current_time = clock.now();
ros_msg.header.stamp = current_time;
int64_t nanoseconds = current_time.nanoseconds();
double timestamp_seconds = static_cast(nanoseconds) * 1e-9;
然后在下面的for循环中插入 frame.points[i].timestamp=timestamp_seconds;
将每个点的timstamp修改为系统时间
再次编译运行就能得到正确的时间戳了

[IfReturn]

雷达时间硬同步没生效，本地部署个ptp服务器就行

[saurabh1002]

The solution by @911527016 solves the issue. There is just one extra change to make it compile. Can find the complete diff in #8