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两个MID-70共用一个topic时时间戳乱序

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Author: luckzhen | Time: 2022-11-29 20:43:40 | MID-70|
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Posted on 2022-11-29 20:43:40| All floors |Read mode
如下图,msg的header中,seq为正确的递增数据,但stamp与上一帧相比,经常性地出现减小的情况,推测是两个雷达中时间戳较大的先被发了出来,但顺序关系不固定。这个问题导致后续使用的算法不能正常工作。紧急求助该如何修改驱动程序?
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 Author| Posted on 2022-11-29 20:45:11| All floors
图片内容:

lidar : 1669716285.198736, last : 1669716285.199153, delta = -0.000417, dseq = 1
0.100256
lidar : 1669716285.298576, last : 1669716285.298993, delta = -0.000417, dseq = 1
0.100256
lidar : 1669716285.398416, last : 1669716285.398833, delta = -0.000417, dseq = 1
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