rostest
commented
10 months ago Thanks for your feedback. Laserscan messages for the picoScan can be generated, if the following parameter is added in launchfile sick_picoscan.launch:
<!-- Configuration of laserscan messages (ROS only): -->
<!-- Parameter "laserscan_layer_filter" sets a mask to create laserscan messages for configured layer (0: no laserscan message, 1: create laserscan messages for this layer) -->
<!-- Use "1" to activate resp. "0" to deactivate laserscan messages (picoScan has 1 layer) -->
<param name="laserscan_layer_filter" type="string" value="1" />By adding this parameter, laserscan messages will be published on topic "/sick_picoscan/scan_segment" with frame id "world_0". These laserscan messages are generated for each scan segment. Currently the driver does not support laserscan messages for complete fullframes (-138.0 to +138.0 degree for piocScan lidars). We will discuss optional support of fullframe laserscan messages with SICK.
sick_scan_xd is a generic driver supporting a wide range of lidars. This allows the use of several types of lidars without the need to modify the API or application. Yherefore, product specific drivers are currently not favoured.
Jonny0816
Phymin
Dear sir For the Picoscan hardware, customer asked for two requirements, please kindly help to check whether can support: 1.Is it possible to create a Laserscan topic like TiM5 variant? Because some customers are using TiM5 and they want to use PicoScan with the same topic. 2.This driver supports all ranging LiDAR and with too much content in it, is it possible to create the driver with series products and delete other irrelevant product content？ thanks