timestamps with offset in field_t overlaps

[mrvsht]

Problem

We use the multiscan 165 with this driver and have the following issue:
We use the tick_to_timestamp_mode = 0 and get timestamps that look correct, but they overlap if you look closely at the t field.

If you calculate the offset in field t to each point from one scan, it looks like, that the latest points are detected, after the next scan is already started.
It looks like an overlap from one scan to the next scan.

We analysed the timestamps with the calculated offset in field t and tried to displayed it on the following image:
In the image you can see the header stamp as the dashed vertical line and the horizontal lines show the offsets for each layer.
You can see that some scans do not start exactly after the previous one according to the header stamp and the next, subsequent scan starts before the previous one is finished according to the header stamp.
It looks to us as if the headerstamps jump back and forth.

Hopefully the picture helps to understand the problem.

Our Setup

• Sick Scanner: multiScan165
• Driver: sick_scan_xd
• Firmware: 2.2.2
• ROS2: Humble
• Timesync: PTP