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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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Some questions about the provided Python API #371

Open angxiaoming-666 opened 1 month ago

angxiaoming-666 commented 1 month ago

How can I control some operations of Sick in the provided Python API, such as setting its IP, output interval, etc., especially the start measure, stop, standby in the measurement.Looking forward to your reply, thank you

rostest commented 1 month ago

Thank you for your feedback. Use SOPAS ET or SOPAS Air to configure settings such as the IP address. Lidar dependent scan settings like scan frequency or resolution can be configured via launchfile, see https://github.com/SICKAG/sick_scan_xd/blob/develop/USAGE.md for further information. Direct operational SOPAS commands at runtime are currently not supported by the API.

angxiaoming-666 commented 1 month ago

Thank you for your answer. I have two more questions to ask 1: I currently only see the Python/c++API, but I noticed some traces of Java programs in SOPAS ET. Is there any Java related API for Sick? Because I am currently using Java to call DLLs through JNA and writing code logic based on Python APIs‘ 2: Actually, whether it's C++or Python APIs, they all use sockets at the bottom level. However, converting the frame information I obtain through sockets to coordinate information (x, y, z) is quite troublesome. Can you provide the relevant conversion logic?

rostest commented 1 month ago

Thank you for your reply. Java is currently not directly supported. The Python/C++ examples may be helpful for loading the dll and calling the API functions via JNA.

Sockets are used for internal TCP communication with the lidar at a low level of the driver. They should not be used by the calling application. What frame information do you want to get from the socket?