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SICKAG / sick_scan_xd

Based on the sick_scan drivers for ROS1, sick_scan_xd merges sick_scan, sick_scan2 and sick_scan_base repositories. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2).
Apache License 2.0
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Unable to change Scan Frequency of Sick Tim 5xx #192

Closed vignesh-katomaran closed 1 year ago

vignesh-katomaran commented 1 year ago

I am running on Ubuntu 22.04 and ROS 2 Humble, When i changed the scan_freq parameter from launch file it applied to package. After launch i verified it with Dynamic Reconfigure(RQT reconfigure). Even though it shows the changed value in rqt_reconfigure when i tested the hz of the topic it still coming on 14-15 Hz rate

rostest commented 1 year ago

Thank you for reporting this. Dynamic reconfiguration is currently not supported. To set a new scan frequency, please change the scan_freq parameter in the launchfile and restart the driver.

vignesh-katomaran commented 1 year ago

When i set scan_freq parameter on launchfile and restarted the node i'm getting the required Frequency at initial but later it gets back to 15hz. It is increasing step step by step for example. i set scan_freq=7.0 it starts from 7.01 then it increased to 15Hz in very soon.

vignesh-katomaran commented 1 year ago

ERROR] [1689061227.699803686] [sick_scan]: ang_res and scan_freq have to be set, only one param is set skiping scan_fre/ang_res config

rostest commented 1 year ago

Parameter "scan_freq" and "ang_res" are not supported for the TiM 5xx familie. TiM 5xx lidars have a constant scan frequency and angular resolution. See operation manual and chapter 4.2 in the telegram listing for details.