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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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Regarding the setting issue of the picoscan150 LiDAR's angle range. #375

Closed wdsrsy closed 2 months ago

wdsrsy commented 2 months ago

Hello engineers, I have encountered an issue with the picoscan150. I wanted to change the angle range while using it, so I modified two options, all_segments_min_deg and all_segments_max_deg, in the sick_picoscan.launch configuration file. However, when I checked with the RViz2 tool, I found no effect; it still displays the full range of -138 to +138 degrees. The same is true when printing out the /scan_fullframe topic. I would like to ask, does the picoscan150 not support changing the angle range through configuration?

rostest commented 2 months ago

Thanks for your feedback. The picoScan 150 is available in multiple variants. According to my understanding, all models have a fixed horizontal aperture of 276 degree. An angle range filter is not supported. Open the lidars ip address in a browser and use SOPAS Air to check and configure possible settings.

wdsrsy commented 2 months ago

Thank you, I have also found that using the SOPAS tool can make changes. However, after I made the changes, I found another issue: when I re-ran the picoscan150 driver, I found that there were topics but no topic data came out.

rostest commented 2 months ago

Thank you for your reply. The topic "/sick_multiscan/scan" is obsolete and will be removed in the next release. It can simply be ignored.

wdsrsy commented 2 months ago

Oh, right, I changed the launch configuration parameters to the range set under SOPAS, and now I can get the topic data.