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SICKAG / sick_lidar_localization

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How to get odometry message from picoscan150? #23

Open whm210806 opened 1 month ago

whm210806 commented 1 month ago

Hi, I'm trying to use the picoscan150 on AGV navigation. After launching the sick_lidar_localization.launch, I can see the odometry 0104 and 0105 topics, but there's no message published inside. How can I solve this problem? Thank you.

honyu-sick commented 1 month ago

image-20241014131957-3 image-20241014132548-4 image-20241014133508-5 image-20241014134203-6 ROS Driver capabilities:

The ROS driver communicates with LiDAR-LOC to extract the results or additional information from or to LiDAR-LOC. . This communication happens via ROS topics or ROS services.

Here is the ROS topic list that user gets once the parameters have been correctly set up.

These ROS topics contain different types of variables that the customer can use. Here is an example from the localization result topic (vehicle's coordinates) "":

To see this topic, the user can use the command:

rostopic echo /localizationcontroller/out/localizationcontroller_result_message_0502

Note: The ROS driver needs to be already launched.

To extract the variables from the ROS Driver, the user needs to subscribe to a topic and assign the variables from the messages to a local variable. Here is an python program that retrieves the localization result output. The program retrieves the localization result and uses the print function to display it on the terminal.

Please find example python script attached to this post.

Odometry within LiDAR-LOC:

LiDAR-LOC uses the vehicle's wheel odometry or the user's "calculated-external"odometry to uses it as a second source to calculate the vehicle's localization. This additional input can be sent to LiDAR-LOC via the "/odom" topic in LiDAR-LOC.