stop sending cloud, version alignment

system/system_executor.cpp

@@ -293,13 +293,13 @@ Error_manager System_executor::encapsulate_send_status()
 			save_cloud_txt(t_region_cloud, t_filename);
 			LOG(INFO) << "region "<< iter->first <<" cloud has been saved in " + t_filename;
 		}
-		for (size_t j = 0; j < t_region_cloud->size(); j++)
-		{
-			message::Cloud_coordinate *tp_cloud = t_multi_status_msg.add_cloud();
-			tp_cloud->set_x(t_region_cloud->points[j].x);
-			tp_cloud->set_y(t_region_cloud->points[j].y);
-			tp_cloud->set_z(t_region_cloud->points[j].z);
-		}
+		// for (size_t j = 0; j < t_region_cloud->size(); j++)
+		// {
+		// 	message::Cloud_coordinate *tp_cloud = t_multi_status_msg.add_cloud();
+		// 	tp_cloud->set_x(t_region_cloud->points[j].x);
+		// 	tp_cloud->set_y(t_region_cloud->points[j].y);
+		// 	tp_cloud->set_z(t_region_cloud->points[j].z);
+		// }
 
 		//无论定位结果如何, 都要填充数据, 即使全部写0, 必须保证通信格式正确.
 		message::Locate_information t_locate_information;
@@ -366,7 +366,8 @@ Error_manager System_executor::encapsulate_send_status()
 
 		std::string t_msg = t_multi_status_msg.SerializeAsString();
 		System_communication::get_instance_references().encapsulate_msg(t_msg);
-        // std::cout<<t_multi_status_msg.DebugString()<<std::endl<<std::endl;
+		// if(t_multi_status_msg.terminal_id()==4)
+        // 	std::cout<<t_multi_status_msg.DebugString()<<std::endl<<std::endl;
 	}
 
 	// 普爱统一一个万集节点, 各终端消息分别发送

velodyne_lidar/velodyne_driver/velodyne_lidar_device.cpp

@@ -446,7 +446,7 @@ Error_manager Velodyne_lidar_device::get_last_cloud(std::mutex *p_mutex, pcl::Po
 		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
 							 "  POINTER IS NULL ");
 	}
-	if (m_parse_ring_time > command_time - std::chrono::milliseconds(int(60000.0/m_params.rpm())))
+	if (m_parse_ring_time > command_time - std::chrono::milliseconds(int(60000.0/(m_params.rpm()*0.5))))
 	{
 		std::unique_lock<std::mutex> lck(*p_mutex);
 		{
@@ -477,7 +477,7 @@ Error_manager Velodyne_lidar_device::get_last_cloud(pcl::PointCloud<pcl::PointXY
 		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
 							 "  POINTER IS NULL ");
 	}
-	if (m_parse_ring_time > command_time - std::chrono::milliseconds(int(60000.0/m_params.rpm())))
+	if (m_parse_ring_time > command_time - std::chrono::milliseconds(int(60000.0/(m_params.rpm()*0.5))))
 	{
 		std::lock_guard<std::mutex> lck(m_cloud_mutex);
 		if (m_ring_cloud.size() <= 0)