[update]1.修复解包中去掉异常包中的潜在bug;

2. 更新README

README.md

@@ -148,7 +148,7 @@ source devel/setup.bash
 
 > The code was tested under ubuntu16.04 ROS kinetic、ubuntu18.04 ROS melodic、ubuntu20.04 ROS noetic, using rviz visualization.
 
-- new a terminal (Ctrl + Alt + T) and use Rviz2 tool,open the `ldlidar.rviz` file below the rviz folder of the readme file directory
+- new a terminal (Ctrl + Alt + T) and use Rviz tool,open the `ldlidar.rviz` file below the rviz folder of the readme file directory
 ```bash
 rosrun rviz rviz
 ```

src/lipkg.cpp

@@ -126,7 +126,7 @@ bool LiPkg::Parse(const uint8_t *data, long len) {
     if (AnalysisOne(data[i])) {
       // parse a package is success
       double diff = (pkg.end_angle / 100 - pkg.start_angle / 100 + 360) % 360;
-      if (diff > (double)pkg.speed * POINT_PER_PACK / 2300 * 3 / 2) {
+      if (diff > (double)pkg.speed * POINT_PER_PACK / kPointFrequence * 3 / 2) {
         error_times_++;
       } else {
         speed_ = pkg.speed; // Degrees per second
@@ -210,7 +210,7 @@ void LiPkg::ToLaserscan(std::vector<PointData> src) {
   angle_max = ANGLE_TO_RADIAN(src.back().angle);
   range_min = 0.02;
   range_max = 12;
-  angle_increment = ANGLE_TO_RADIAN(speed_ / 4500);
+  angle_increment = ANGLE_TO_RADIAN(speed_ / kPointFrequence);
   static uint16_t last_times_stamp = 0;
   uint16_t dealt_times_stamp = 0;
   uint16_t tmp_times_stamp = GetTimestamp();

src/main.cpp

@@ -42,7 +42,7 @@ int main(int argc, char **argv) {
 	n.getParam("port_name", port_name);
 	n.getParam("frame_id", frame_id);
 
-  ROS_INFO("[ldrobot] SDK Pack Version is v2.2.4");
+  ROS_INFO("[ldrobot] SDK Pack Version is v2.2.5");
   ROS_INFO("[ldrobot] <product_name>: %s,<topic_name>: %s,<port_name>: %s,<frame_id>: %s", 
     product_name.c_str(), topic_name.c_str(), port_name.c_str(), frame_id.c_str());