修改镭神雷达的数据格式以在lio-sam中使用

有两点修改，一、重新定义点云类型，二、修改点云时间

// leishen lidar
struct LeiShenPointXYZIRT {
    PCL_ADD_POINT4D
    PCL_ADD_INTENSITY;
    uint16_t ring;
    double time;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT (LeiShenPointXYZIRT,
    (float, x, x) (float, y, y) (float, z, z) (float, intensity, intensity)
    (uint16_t, ring, ring) (double, time, time)
)

// using PointXYZIRT = VelodynePointXYZIRT;
using PointXYZIRT = LeiShenPointXYZIRT;

bool cachePointCloud(const sensor_msgs::PointCloud2ConstPtr& laserCloudMsg)
{      
    // cache point cloud
    cloudQueue.push_back(*laserCloudMsg);   //点云数据加入队列
    if (cloudQueue.size() <= 2)             //检查点云队列是否小于等于2,满足就直接返回false，数据量太少
        return false;

    // convert cloud
    //取出队列中第一帧数据
    currentCloudMsg = std::move(cloudQueue.front());
    currentCloudMsg.header.frame_id = lidarFrame; // "velodyne";
    
    //第一帧数据从队列中删除
    cloudQueue.pop_front();

    // void moveFromROSMsg(sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
    // 首先由ROS的sensor_msgs::PointCloud2类型转换为PCL的pcl::PCLPointCloud2类型，
    // 然后再由PCL的pcl::PCLPointCloud2类型转换为PCL的pcl::PointCloud<T>
    pcl::moveFromROSMsg(currentCloudMsg, *tmpCloudIn);

    // laserCloudIn->points.resize(tmpCloudIn->size());  //points容器重新划分大小 64512
    laserCloudIn->is_dense = true;
    laserCloudIn->clear();

    double timestamp = currentCloudMsg.header.stamp.toSec();
    for (size_t i = 0; i < tmpCloudIn->size(); i++) {
        if (std::isnan(tmpCloudIn->points[i].x) ||
            std::isnan(tmpCloudIn->points[i].y) ||
                std::isnan(tmpCloudIn->points[i].z)) {
                continue;
        }

        PointXYZIRT tmpCloudPoint;
        auto &src = tmpCloudIn->points[i];
        if(abs(src.x) > 0.000000 || abs(src.y > 0.000000) || abs(src.z) > 0.000000)   //去除无效点作用
        {
            tmpCloudPoint.x = src.x;
            tmpCloudPoint.y = src.y;
            tmpCloudPoint.z = src.z;
            tmpCloudPoint.intensity = src.intensity;
            tmpCloudPoint.ring = src.ring;
            // dst.time = timestamp - src.time / 1e9;
            tmpCloudPoint.time = src.time;    //VELODYNE时间为每个点相对第一个点的时间差，越往后越大，正数;雷神时间为每个点与最后一个点的时间差，越往后越接近0,负数
            laserCloudIn->push_back(tmpCloudPoint);   //将该点加入容器中
            // if(abs(tmpCloudPoint.time) > 0.000000)
            //     laserCloudIn->push_back(tmpCloudPoint);
        }
    }

    if((int)laserCloudIn->size() > 0)
    {
        double begintime = laserCloudIn->points.front().time;
        for(size_t i = 0; i < laserCloudIn->size(); i++)
            laserCloudIn->points[i].time = laserCloudIn->points[i].time - begintime;        //转换雷达时间戳，与velodyne格式相同

         // get timestamp
        cloudHeader = currentCloudMsg.header;
        timeScanCur = cloudHeader.stamp.toSec();  //一帧数据起始时间
        timeScanEnd = timeScanCur + laserCloudIn->points.back().time;   
    }

    // check dense flag
    // 判断点云数据是否是密集模式     不是密集模式的话请移除空值点
    if (laserCloudIn->is_dense == false)
    {
        ROS_ERROR("Point cloud is not in dense format, please remove NaN points first!");
        ros::shutdown();
    }

    // check ring channel
    static int ringFlag = 0;
    if (ringFlag == 0)
    {
        ringFlag = -1;
        for (int i = 0; i < (int)currentCloudMsg.fields.size(); ++i)
        {
            if (currentCloudMsg.fields[i].name == "ring")  //检查fields中是否存在ring
            {
                ringFlag = 1;
                break;
            }
        }
        if (ringFlag == -1)
        {
            ROS_ERROR("Point cloud ring channel not available, please configure your point cloud data!");
            ros::shutdown();
        }
    }

    // check point time
    if (deskewFlag == 0)
    {
        deskewFlag = -1;
        for (auto &field : currentCloudMsg.fields)
        {
            if (field.name == "time" || field.name == "t") //检查fields中是否存在time或者t
            {
                deskewFlag = 1;
                break;
            }
        }
        if (deskewFlag == -1)
            ROS_WARN("Point cloud timestamp not available, deskew function disabled, system will drift significantly!");
    }

    return true;
}

现在，正常启动镭神雷达驱动，话题名称对应上就可以使用了。