fix: Change Velodyne message time handling #53
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Fix Velodyne message time handling. Add scan_rate parameter and ensure velodyne_handler doesn't crash when empty pointcloud is fed in. Signed-off-by: @gilbertta <[email protected]>
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This fix adds changes to how the Velodyne data is being handled and is basically just taken from previous PRs on https://github.com/hku-mars/FAST_LIO. Therefore all the credit goes to the original authors: