astuff / ibeo_core Goto Github PK

Markers generated from ObjectData2280 (received e.g. from a Ibeo Scala Fusion ECU) all have the same, wrong size.
ObjectData2280 does not copy the object_box_size when converting it's Object2280s to IbeoObjects.

Here is the issue list:

1. The data type 0x2806 is not little endian format but big endian format.
   In your source code: https://github.com/astuff/ibeo_core/blob/master/src/ibeo_core.cpp
   The function "read_le" should be replace by "read_de".
   

2. Check the line1623 in the same picture, there is no "cross acceleration" in this this 0x2806 message.

3. The offset number from line1619 to line1624 is mistake.

Regarding to issue 2 and issue 3, you can check the ration from source code to the page 49 of ibeo document "9500028_Ibeo Interface Specification_Customer Documentation_v1.48.2.pdf" below, it can provide my points.

I wanted to work with ibeo_lux under ROS noetic and recognized that the code requires to be build at least with c++14.

In order to make this code build under noetic I changed the compile options in CMakeList.txt to:
add_compile_options(-std=c++14)

I also needed in the ibeo_lux CMakeList.txt to change the compile options to:
add_definitions(-std=c++14 -Wall -Wextra -DBUILD_ROS)

I will generate an issue also for ibeo_lux.

It would be nice if someone can take take of this to enable working under noetic. :-)

Regards

Bernd