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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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what is the picoScan100 reflector define type? #337

Closed sjeffreydong closed 2 months ago

sjeffreydong commented 4 months ago

Dear

Customer is asking us what the picoScan100 reflector define type? int? float? int64?

rostest commented 4 months ago

Thanks for your feedback. I assume the customer means the reflector bit, which indicates the detection of a reflector. It is a flag (value 0 or 1) of type sensor_msgs::PointField::INT8 (1 byte). The types are listed in the field description of a PointCloud2 message and can be viewed e.g. with rostopic echo -n 1 /cloud_all_fields_fullframe:

fields: 
  - 
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  - 
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  - 
    name: "z"
    offset: 8
    datatype: 7
    count: 1
  - 
    name: "i"
    offset: 12
    datatype: 7
    count: 1
  - 
...
  - 
    name: "reflector"
    offset: 30
    datatype: 1
    count: 1

Datatype 1 is an INT8, datatype 7 is a FLOAT32. See https://docs.ros.org/en/jade/api/sensor_msgs/html/msg/PointField.html for a complete list of all datatypes of a PointCloud2 message.