multiscan136 no pointcloud callbacks after power cycle

I'm trying to get pointcloud messages from my multiscan136. If i execute the snippet below, i don't get pointcloud messages the first time i try after the lidar has started. If i let the example finish and try again, it works.

The logs are exactly the same for both tries (expect "Got PointCloudMSg" obviously), the last message I see is: [Info]: SickScanServices::sendSopasCmdCheckResponse(): request: "sMN Run", response: "sAN Run 1"

I'm using v3.0.0 on Ubuntu 20.04 arm64.

#include "sick_scan_xd/sick_scan_api.h"
#include <iostream>
#include <thread>

void pointcloud_callback(
    SickScanApiHandle handle,
    const SickScanPointCloudMsg* msg) 
{
  std::cout << "Got PointCloudMsg" << std::endl;
}

int main()
{
  SickScanApiLoadLibrary("/usr/local/lib/libsick_scan_xd_shared_lib.so");
  auto* apiHandle = SickScanApiCreate(0, nullptr);
  if (apiHandle == nullptr) {
    std::cerr << "Failed to create API handle" << std::endl;
    return -1;
  }

  const auto ret = SickScanApiInitByLaunchfile(apiHandle, "/opt/recorder/sick_multiscan.launch");
  if (ret != SICK_SCAN_API_SUCCESS) {
    std::cerr << "Failed to init API handle" << std::endl;
    return -1;
  }

  const auto regRet = SickScanApiRegisterCartesianPointCloudMsg(
      apiHandle, 
      &pointcloud_callback);
  if (regRet != SICK_SCAN_API_SUCCESS) {
    std::cerr << "Failed to register callback" << std::endl;
    return -1;
  }

  std::this_thread::sleep_for(std::chrono::seconds(5));

  const auto deregRet = SickScanApiDeregisterCartesianPointCloudMsg(
      apiHandle, 
      &pointcloud_callback);
  if (deregRet != SICK_SCAN_API_SUCCESS) {
    std::cerr << "Failed to deregister callback" << std::endl;
    return -1;
  }

  SickScanApiClose(apiHandle);
  SickScanApiRelease(apiHandle);
  SickScanApiUnloadLibrary();

  return 0;
}

SICKAG / sick_scan_xd

multiscan136 no pointcloud callbacks after power cycle #253