.

lsllidar/lsllidar.cc

@@ -25,12 +25,15 @@ string info_name, info_type, info_sourceid;
 
 static int verbose = 0;
 
+int sample_interval_ms = 100;
+
 void parse_options(int argc, const char *argv[]) {
     namespace po = boost::program_options;
 
     // Declare the supported options.
     po::options_description desc("Usage:");
     desc.add_options()("help,h", "show this message")(
+        "sample-interval,i", po::value<int>(), "set the sample interval of the lidar sensor (in milliseconds)")(
         "lsl-name", po::value<string>(), "set the name of the LSL stream")(
         "lsl-type", po::value<string>(), "set the type of the LSL stream")(
         "lsl-sourceid", po::value<string>(),
@@ -50,6 +53,13 @@ void parse_options(int argc, const char *argv[]) {
         verbose = 1;
     }
 
+    if (vm.count("sample-interval")) {
+        sample_interval_ms = vm["sample-interval"].as<int>();
+    }
+
+    if (verbose)
+        cout << "sample interval is: " << sample_interval_ms << " ms" << endl;
+
     if (vm.count("lsl-name"))
         info_name = vm["lsl-name"].as<string>();
     else
@@ -150,11 +160,11 @@ int main(int argc, const char *argv[])
 
     // make a new stream_info and open an outlet with it
     stream_info info(info_name.c_str(), info_type.c_str(), 1,
-                     lsl::IRREGULAR_RATE, lsl::cf_int16,
+                     lsl::IRREGULAR_RATE, lsl::cf_double64,
                      info_sourceid.c_str());
     outlet = new stream_outlet(info);
 
-    start_periodic_timer(1000000,100000);
+    start_periodic_timer(1000000,sample_interval_ms*1000);
 
     while(1)
     {
@@ -165,11 +175,12 @@ int main(int argc, const char *argv[])
         if (busyFlag != 0x00)
             continue;
         
-        int16_t distance;
+        double distance;
         myLidarLite.takeRange();
-        distance = myLidarLite.readDistance();
+        distance = double(myLidarLite.readDistance())/100;
         outlet->push_sample(&distance);
-        printf("%4d\n", distance);
+        if (verbose)
+           printf("%.2f\n", distance);
     }
 }