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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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Question for multiScan's "TelegramVersion" on Compact data format #338

Closed kajiyyuGXJ closed 1 month ago

kajiyyuGXJ commented 1 month ago

When I have a look into compact_parser.cpp, DistanceScalingFactor is eliminated on multiScan's Compact data format when "TelegramVersion" is 3.

ScreenShot_2024-05-27 155825

But, it looks like DistanceScalingFactor is saved when "TelegramVersion" is 4.

Could you please tell me this difference meaning?

*We would like to know this meaning for the deep understanding of the multiScan, aimed for the future development.

rostest commented 1 month ago

Thanks for your feedback. The compact format encodes distances in millimeter with 16 bit (uint16). This allows the representation of distances up to 2^16 mm resp. 65.5 meter. To be able to encode greater distances, the DistanceScalingFactor has been introduced by telegram version 4.

Note that telegram version 3 is not in use any longer. It is included in compact_parser.cpp for backward compatibility to support multiScan devices with older firmware versions. We recommend to update the firmware to the most recent version, which uses telegram version 4.

kajiyyuGXJ commented 1 month ago

Thank you very much for prompt answer, we'll update the firmware. Please let me close this post, thank you!