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SICKAG / sick_scan

sick_scan is an open-source project to support the laser scanner of the company SICK using the ROS-framework
Apache License 2.0
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Number of points per layer for MRS6xxx differs from specifications #127

Closed themightyoarfish closed 3 years ago

themightyoarfish commented 3 years ago

On page 16 of https://cdn.sick.com/media/docs/0/40/540/operating_instructions_mrs6000_en_im0076540.pdf it says that 924 points are emitted per layer (120° / 0.13° + 1), but the ROS messages produced by the driver only contains 922.

Where does this discrepancy come from?

michael1309 commented 3 years ago

The start and end angles on the MRS6124 have been minimally adjusted to output 922 points instead of 924 points. Therefore, your observation is correct and intended.

themightyoarfish commented 3 years ago

What does this mean for the radial coordinates of the points? Does the azimuth angle start at -60° and go in 922 steps of 0.13°? Or is everything shifted somehow?

On 23 May 2021 04:29:30 GMT-04:00, Michael Lehning @.***> wrote:

The start and end angles on the MRS6124 have been minimally adjusted to output 922 points instead of 924 points. Therefore, your observation is correct and intended.

-- You are receiving this because you authored the thread. Reply to this email directly or view it on GitHub: https://github.com/SICKAG/sick_scan/issues/127#issuecomment-846525590

michael1309 commented 3 years ago

There is no internal angle shift. The settings only result in the first and last angle entry not being transferred. The calculation of the pointcloud data etc. is therefore also correct.