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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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Not found time, ring, intensity field for mutilScan100 lidar sensor #301

Closed IoTTN closed 5 months ago

IoTTN commented 6 months ago

Hi, I tried to convert Sick multiScan100 MULS1AA-112211 lidar packets to pcl::PointCloud using the standard pcl::fromROSMsg. I have the error complaining about the conversion can't find the field time, intensity, ring. However, carefully inspect the sensor_msgs::PointCloud2 message, I see that it has the intensity field. I want use Point-LIO to mapping create 3D map. Please help me. Thank you.

rostest commented 6 months ago

Thanks for your feedback. To be on the safe side, you can allocate a pcl::PointCloudpcl point cloud with (height * width) points and convert each point in the sensor_msgs::PointCloud2 message to a pcl::PointCloudpcl::PointXYZI point. See https://github.com/SICKAG/sick_scan_xd/blob/develop/doc/sick_scan_segment_xd.md for details about the memory layout.

IoTTN commented 6 months ago

@rostest Thank you for your feedback, I'm trying to correct it according to your comments. I am learning more about the concept of ring , time field, how can I extract more of the above fields? I will try to reflect as soon as possible on what to do next.