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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 see point cloud after launching multiScan #238

Closed SICK-AliciaTee closed 8 months ago

SICK-AliciaTee commented 9 months ago

Hi I run the launch file for multiScan (please see attached log).

Looks like the launch file is running but I am not able to see any point cloud in RVIZ and did not see any point cloud either when playing the bag file in Foxglove.

Bag File info below:

teeal@RECONDITE:~/sick_scan_ws/devel_isolated$ rosbag info 2023-11-22-16-54-59.bag path: 2023-11-22-16-54-59.bag version: 2.0 duration: 0.2s start: Nov 22 2023 16:54:59.65 (1700700899.65) end: Nov 22 2023 16:54:59.82 (1700700899.82) size: 21.1 KB messages: 18 compression: none [1/1 chunks] types: dynamic_reconfigure/Config [958f16a05573709014982821e6822580] dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f] rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb] topics: /multiScan/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /multiScan/parameter_updates 1 msg : dynamic_reconfigure/Config /rosout 16 msgs : rosgraph_msgs/Log

Do you think there are some data missing here? Thank you.

RVIZ_screen_shot RVIZ_topic_list

teeal@RECONDITE~multiScan20231122t.txt

SICK-AliciaTee commented 9 months ago

multiScan screen 2023-11-23 135348

Attached with the SOPAS Air setup, what would be the host name and what would be the udp receive ip?

multiScan IP: 192.168.0.1

rostest commented 9 months ago

Thanks for your feedback. hostname is the IP address of the lidar, i.e. 192.168.0.1. UDP receiver ip is the ip address of the PC running sick_scan_xd, i.e. 192.168.0.100 (the "Destination IP address" in SOPAS Air).

The command roslaunch sick_scan_xd sick_multiscan.launch hostname:=192.168.0.1 udp_receiver_ip:=192.168.0.100 in your logfile is correct and sick_scan_xd is working as expected. For segment lidars, i.e. multiScan and picoScan, sick_scan_xd publishes several pointclouds with different properties on different topics. You can see these pointclouds in the rviz dialog. Select one of them, e.g. "cloud_unstructured_fullframe" and you should see the pointcloud in rviz.

See https://github.com/SICKAG/sick_scan_xd/blob/master/doc/sick_scan_segment_xd.md for details about the multiScan pointclouds.