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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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Missing data when using field of view settings on microScan3 #97

Closed mehditlili closed 2 years ago

mehditlili commented 2 years ago

Hi, we are using SICK microScan3 (MICS3-CBAZ55ZA1P01) with this repository and have noticed that when trying to set the field of view angles, a big chunk of data disappears (the latest 45 degrees of the field of view).

When I set both angle_start and angle_end to equal values (disabling field of view filtering) I see all the points.

But the moment I set angle start and angle_end to -2.39 and 2.39, a lot of points disappear (approximately the last 45 degrees of the fov so between 1.95 and 2.39).

Apart from that, the field of view function itself works as intended and I see points gradually filtered as I increase the angle_start value or decrease angle_end value.

I looked at the code but it wasn't clear to me where the actual filtering of the points is being done. Can you give me some hints? thanks

lenpuc commented 2 years ago

Hi,

the angles are written to the config and send to the sensor directly. The actual filtering is done by the sensor and the corresponding points are transferred back to the driver. So far I couldn't reproduce the error mentioned. But i will have a deeper look into it.

lenpuc commented 2 years ago

Hi is this, still present on your part? I could not reproduce the mentioned error. Is everything shown correctly in the safety designer view?

lenpuc commented 2 years ago

Closing due to inactivity