lidar_points2 message is bigger than the lidar_points2_color

Issue #45 resolved
Dimitrios Kanoulas
created an issue

I have the following interesting bandwidth issue:

rostopic bw /multisense/lidar_points2 average: 708.05KB/s mean: 17.44KB min: 17.44KB max: 17.44KB window: 100

rostopic bw /multisense/lidar_points2_color average: 311.95KB/s mean: 7.57KB min: 5.53KB max: 9.96KB window: 100

I am not very sure how come the sensor_msgs/PointCloud2 is different in the two cases and especially how come the one without the color is bigger than the other... Thanks a lot for the help!

Comments (2)

  1. Matt Alvarado

    Hi Dimitrios,

    There are less points in the color laser point cloud since the only points with valid reprojections into the camera are included in the point cloud. For example, laser returns behind the camera are not included in the color laser point cloud.

    The documentation for the /multisense/laser_points2_color details this (http://docs.carnegierobotics.com/SL/api.html#api:laser).

    Thanks, Matt Alvarado Engineer Carnegie Robotics

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