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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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Using two LMS1000 from one main thread #269

Closed cblesing closed 5 months ago

cblesing commented 5 months ago

Hi everyone,

I have a simple question again. Is it possible to run/start two SICK LMS1000 from one main thread in my program? To do so, I have called the corresponding sick_scan_xd api methods that are needed for bring up the scanner twice. Here is what I do.

SickScanApiCreate(numberOfScannerParameters, scannerParameter) (called twice with coresponding params) SickScanApiInitByCli(apiHandle, numberOfScannerParameters, scannerParameter) (called twice with coresponding params) SickScanApiRegisterCartesianPointCloudMsg(apiHandle, cb) (called twice with coresponding params)

If I run my main programm, I only see in the terminal log that one SICK TcpRecvThread is startet.

I also tried to use the SickScanApiInitByLaunchFile and gave the two nodes seperate names like I would do in ROS. But also in this case I only see one SICK TcpRecvThread comming up.

Am I doing something wrong, or is it not possible to bring up two Scanners from one main programm? If it is possible could you please decribe to me how?

I am using an Ubuntu 22.04 machine and a switch to connect the LSM1000. As you might have seen I use C++ and have no possibility to use ROS. The "main thread" mentioned above is just a simple C++ programm that receives the incomming scan data and process them.

Thanks in advance!

rostest commented 5 months ago

Thanks for your feedback. The sick_scan_xd-API currently does not support the (single- or multithreaded) use of 2 or more lidars in one process. We do not recommend doing so, since the sick_scan_xd library is not guaranteed to be threadsafe.

To run multiple lidars simultaneously, please use ROS or run sick_scan_xd in multiple and separate processes.