Closed reinbja closed 8 months ago
Thanks for your feedback. We will check the rangeFilter settings. Which lidar and which range filter configuration do you use?
If you are using a multiScan lidar, there are two different types of range filter settings:
rangeFilter
activates or deactivates a range filter for each pointcloud. To drop invalid points in a pointcloud (i.e. scan points with range=0), you can set rangeFilter=0.05,999,1
. The configuration of cloud_unstructured_fullframe in sick_multiscan.launch shows an example:
<!-- cloud_unstructured_fullframe: cartesian coordinates, fullframe, all echos, all layers, range filter on -->
<param name="cloud_unstructured_fullframe" type="string" value="coordinateNotation=0 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_fullframe frameid=world publish=1"/>
rangeFilter
to drop scan points with a distance below given min. range or above max. range.I am using a multiScan136. For your evaluation... the sensor was launched with no activated filters. After launching the multiScan, the rangeFilter
was activated. With default setting -90° ...90°
it was working, but there is a point of adjustment, where the pointcloud is freezing in rviz
Working range
>= -18°
<= +75°
There is also s.th. wrong with the layer filter. If layer 1 or 16 is disabled the pointcloud is freezing as well
Thanks for additional informations. Compact- and msgpack-format behave different in case of angle range filters. If an angle range filter is activated, fullframe pointclouds are currently published with mspack, but not necessarily when using compact-format. We will adapt the fullframe check for compact data with angle range filters and provide an update.
An update is available in branch https://github.com/SICKAG/sick_scan_xd/tree/feature/issue_update, which corrects the fullframe pointclouds with activated angle range and layer filter. Please checkout this update and rebuild sick_scan_xd.
If the scan range filter is enabled, no scandata are available. If scan range filter is disabled, scandata are available.