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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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About the publication of the reflector information. #340

Open wangyw123456 opened 1 month ago

wangyw123456 commented 1 month ago

At present, the reflector information is published through the topic of /cloud_all_fields_fullframe. Can we change it to be published through the topic of /sick_picoscan/scan_fullframe ? Our company is currently testing this aspect and hopes to support it

rostest commented 1 month ago

Thanks for your feedback. The messages in topic "/sick_picoscan/scan_fullframe" are standard ROS messages of type sensor_msgs::LaserScan. This data format is defined by the ROS in https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/LaserScan.html. It allows the transmission of ranges and intensities of a single and planar laser scan, but cannot be extended with additional and lidar specific properties such as reflector bits. We recommend using the more flexible point cloud data format in the topic "cloud_all_fields_fullframe", which includes all scan properties incl. the reflector bit.