Adaptation of picoscan_single_echo needed

[gschwsiSICKAG]

Hello,

I am working with this branch: https://github.com/SICKAG/sick_scan_xd/tree/feature/picoscan_single_echo The branch only outputs one topic with one ID with a single echo for each beam. Thats good. However, I need the last echo of each beam in this topic.

for every scan e.g.

• the beam contains 3 echos (a, b, c), the beam in the laserscan topic should contain c) only
• the beam contains 2 echos (a, b), the beam in the laserscan topic should contain b) only
• the beam contains 1 echo (a), the beam in the laserscan topic should contain a) only

echo a) has the closest distance echo c) has the largest distance

Thanks

[gschwsiSICKAG]

It works if I use the launch file sick_picoscan_single_echo.launch. Ticket is closed for me.