Lidar time error about livox_high_precision_mapping HOT 2 CLOSED

I've solved this issue.
There were a few things wrong:

1. I did not add the user that ROS is running under to the dialout group. This is necessary for ROS to have permission to access the /dev/ttyUSBx devices.
2. ROS doesn't seem to cooperate with device symlinks specified as udev rules. I originally set up udev rules to be able to easily differentiate between the rs232 to usb and TTL to usb devices.
3. Make sure that "legacy talker ID" is unchecked in the APX-15 settings for COM1. When the messages start with "GPRMC" rather than "GNRMC" I don't think the APX driver is able to parse the messages.

Now that these are resolved, I'm getting normal messages:

And after a small test, I'm able to get an adjusted point cloud based on IMU pose.

from livox_high_precision_mapping.

Hi @cojeffj

I am trying to setup GPS sync for livox lidar as well. I supplied PPS pulse and sent GPRMC, the lidar timestamp_type becomes 4 (only PPS) and stuck there. It never gets to timestamp_type 3 (GPS) as described in the livox timesync manual.

Have you encountered this situation? May I ask how did you setup your system to finally get timestamp_type to 3?

from livox_high_precision_mapping.