How to narrow the range of azimuth angles

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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How to narrow the range of azimuth angles #339

Open kazuse5 opened 1 month ago

kazuse5 commented 1 month ago

Hello,

We are evaluating picoScan with ROS2, but does not seem to be able to change the "Scan Range Filter". Would you please tell us how to narrow the range of azimuth angles ?

ROS2 humble picoScan V1.3.0 (PN1134609) sick_scan_xd 3.4.0

The following site say. "An azimuth filter is currently not supported for picoScan lidars." https://github.com/SICKAG/sick_scan_xd/issues/266

When is it expected to improve ? Thank you in advance.

rostest commented 1 month ago

Thanks for your feedback. As far as we know, an azimuth filter (LFPangleRangeFilter) is not supported by picoScan lidars. We will clarify with SICK whether support for this feature is planned.

gschwsiSICKAG commented 1 month ago

As an alternative option, the picoScan150 offers native ROS2 (DDS) to connect to ROS2 Humble without the need for an external driver. With this feature, you can use the scan range filter. Please use https://supportportal.sick.com/ to contact SICK support.