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SICKAG / sick_safetyscanners

ROS driver for SICK safety laser scanners
https://www.sick.com/de/en/opto-electronic-protective-devices/safety-laser-scanners/c/g187225
Apache License 2.0
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Understanding intensities in ROS messages #77

Closed yashmanian closed 3 years ago

yashmanian commented 3 years ago

I'm trying to wrap my head around a few things regarding the intensities sent out by the SICK safety ROS node as a part of the message, and I have a couple of questions:

  1. As a part of the /sick_safetyscanners/scan message, I see the array of float32 meant for intensities being published. However, I wasn't able to find documentation on what the saturation value (max intensity) is. It would be helpful if someone was able to tell me what this value is.
  2. Looking into the /sick_safetyscanners/extended_laser_scan message, I am not quite sure what the reflektor_status, reflektor_median and the intrusion arrays are supposed to indicate. Where can I find some documentation on these?
puck-fzi commented 3 years ago

Hi,

1.) I am not entirely sure. I think it might range between 0 and 255.0. Will test it the next days what kind of values I am getting, currently not close to a scanner. Otherwise you could ask SICK directly, since the values are the reflectivity the scanner sends.

2.) The extended message contains values for different measuring outputs: reflector status: Indicates if a scan point is a reflector, this is directly send by the scanner. Which means that the scanner detected a high reflectivity. reflector_median: returns the middle scan point inside an reflector area. intrusion: This return if a beam violates one of the protective or warning fields.

Hope this helps.

puck-fzi commented 3 years ago

Closing this as it seems resolved, if it didn't clarify your questions please reopen.