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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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Custom azimuth limits picoscan #266

Closed huemerj closed 6 months ago

huemerj commented 8 months ago

Hi,

is it currently possible (on ROS 2 humble) to vary the picoscan azimuth limits (of course inside the specification of -138 to 138 deg) via e.g. launch file? I just need a certain angular range of scans and I would like to filter unwanted data directly inside the picoscan ROS 2 node.

rostest commented 8 months ago

Thanks for your feedback. An azimuth filter is currently not supported for picoScan lidars. We recommend to implement a filter in the application, e.g. by subscribing to the ros pointcloud on topic "cloud_all_fields_fullframe", which contains all scan points in cartesian and polar coordinates incl. azimuth (fields x,y,z,i,range,azimuth,elevation). See https://github.com/SICKAG/sick_scan_xd/blob/master/doc/sick_scan_segment_xd.md#customized-pointclouds for details about customized pointcloud fields.