Closed paulinelvne closed 6 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.
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).
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
@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.
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:
Issues remaining: