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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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How should I configure the frequency and resolution？ #156

Closed chance2006 closed 2 years ago

chance2006 commented 2 years ago

Dear Sir/Lady: As we know, we could set the angle resolution and scaning frequency of LMS5XX by edit 

    <param name="scan_freq" type="double" value="25" />

but, I can't find these two paramaters in the launch file of LMS1XX, Could you kindly share a method？

Thanks very much！

Bob

michael1309 commented 2 years ago

Please switch to the head revision of https://github.com/SICKAG/sick_scan_xd Since the last release of this repo (18th Jan. 2022) these features are supported there.

You can find the specific setting in the sick_scan_xd repository here: https://github.com/SICKAG/sick_scan_xd/blob/master/launch/sick_lms_1xx.launch

Citation from this file:


        <param name="ang_res" type="double" value="0.5" /> <!-- Supported values are "0.25" and "0.50" -->
        <param name="scan_freq" type="double" value="50" /> <!-- Supported values are "25" and "50" -->
        <!-- Note: angular resolution and scanning frequency of a LMS111 can be configured by parameter "ang_res" (values "0.25" or "0.5") and "scan_freq"  (values "25" or "50") -->
        <!-- After setting "ang_res" and "scan_freq", it takes ca. 30 seconds until the pointcloud is published. -->
        <!-- Recommendation: It is recommended to specify the desired angular resolution and scan rate in this launch file. -->
        <!-- In this case, it is necessary to wait approx. 30 sec. until the Lidar changes to status "OK". -->
        <!-- Alternatively, these settings can be configured in SOPAS-ET, transferred to the EEProm of the lidar and -->
        <!-- then permanently stored. In this case, the explicit specification of scan rate and angular resolution -->
        <!-- can be omitted and the waiting time can be avoided. -->