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SICKAG / sick_scan_xd

A versatile driver for a wide range of SICK LiDAR and RADAR devices, providing support for both Linux (native, ROS 1, ROS 2) and Windows (native, ROS 2) platforms.
Apache License 2.0
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invalid angle range sick_lrs_4xxx #388

Closed arturokkboss33 closed 2 months ago

arturokkboss33 commented 2 months ago

Good day.

While running the launch file the following error appears:

Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0033>sWN LMP outputRange 0x00 0x01 0x00 ..., received answer: "sFA\x00\x04", expected patterns: "sWA LMPoutputRange","sAN LMPoutputRange"

This is caused when I try to define an angle that is not in the range of -180 to 180 degrees. If this cannnot be change, my question will be how to set the range so that I can see Quadrants II and IV in the cartesian. Som from PI/2 to -PI/2 ... it only works from -PI/2 to PI/2 but that covers the other half of the plane that I dont want.

Best, Arturo

rostest commented 2 months ago

Thanks for your feedback. As far as I know, the LRS4000 has a fixed angle range of -180 to +180 degrees, as shown in the telegram listing:

image

It is recommended to filter the polar or cartesian point cloud data to the desired region of interest in the application using given azimuth ranges.