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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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Get data from several lidars simultaneously #281

Closed paulinelvne closed 6 months ago

paulinelvne commented 7 months ago

Hello,

After integrating the sick_scan_xd library (C++ only mode, no ROS), we realized that it wasn't possible get data from several lidars simultaneously. We think it's important that this point appears in the sick_scan_xd documentation, because discovering this after integration was an unpleasant surprise for us.

After discovering this we figured out that we were not the only ones to have missed this point and that other peoples assumed that it was possible to use the library this way: #269, [#218](https://github.com/SICKAG/sick_scan_xd/issues/218, #194, 169.

We also work with other lidar brands, with which it's possible to connect as many lidars as we like. We often use multiple lidars in the projects we have and it would have been nice to have this feature for our use case.

Anyway, we understand that it is possible use this library with multiple lidars by starting multiple processes, each one handling a single sensor, so we will probably go down this route.

Is an implementation of sick_scan_segment_xd planned in the future that will support multiple lidars without having to deal with multiple processes on our side, without ROS ?

At least it would be nice to state in an obvious location of the doc that using multiple lidars without ROS means that we have to plan for 1 process per lidar.

Thanks in advance

rostest commented 7 months ago

Many thanks for your feedback! We updated the documentation in sick_scan_api.md (pull request #283). We will clarify a possible API support for multiple lidars with SICK.

paulinelvne commented 7 months ago

Thank you very much for your reply. Let us know when you have more information.

paulinelvne commented 6 months ago

Hello,

Do you have more information about a possible API support for multiple lidars. We need to know if we can count on a possible API support.

Thank you in advance for your reply.

rostest commented 6 months ago

Thank you for following up. Possible API support for simultaneous use of multiple lidars is currently being clarified. Please contact SICK support for feature requests.