Add support for PicoScan performance profile parameter in launch file

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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Add support for PicoScan performance profile parameter in launch file #255

Closed paulinelvne closed 6 months ago

paulinelvne commented 7 months ago

Add basic support for setting the PicoScan's performance profile parameter from the launch file.

For now, we can set the "performance profile" parameter from 0 to 9. With those changes we are able to set the performance profile number when calling SickScanApiInitByLaunchfile, by adding an argument like this:

./sick_picoscan.launch hostname:= performanceprofilenumber:=9

Issues remaining:

passing a value of 10 (for Prime and Pro models of PicoScan) does not work
when sending commands to the lidar, the "sendMultiScanStartCmd()" function is called when using a picoscan. It seems to be working but a bit strange.

rostest commented 7 months ago

Thank you very much for this pull request. We will discuss a possible support of Profiling Systems with SICK and will come back to it.

rostest commented 7 months ago

Thanks again for the PR. It will be merged into the next release. Note that picoScan lidars support profiles from 0 to 9 (a value of 10 is not supported).

paulinelvne commented 7 months ago

I've just tested with a performanceprofilenumber = 0, it doesn't work. The only performanceprofiles that work are those from 1 to 9, which is problematic because you can't set profile 10 (40Hz 0.125°).

Thank you for your time

rostest commented 7 months ago

@paulinelvne Profile 10 can be set, but has to be encoded with hexvalue 0xA in the SOPAS command. Please find an update in branch https://github.com/SICKAG/sick_scan_xd/tree/feature/picoscan_performanceprofile, which merges your PR incl. the conversion to hexvalues.