Sick PicoScan150 "add_transform_xyz_rpy" not working

[ravikiransama]

Hi, I have an issue with sick pico scan 150. The "add_transform_xyz_rpy" is not working. The moment i enter non zero values, no point clouds are published on that topic in rviz. I use ros2 humble and sick_scan_xd humble version. I had built the sick scan from source.

Here are my launch and config files. `<?xml version="1.0"?>

import os import sys from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node from launch.actions import DeclareLaunchArgument

def generate_launch_description():

ld = LaunchDescription()
sick_scan_pkg_prefix = get_package_share_directory('sick_scan_xd')
launchfile = os.path.basename(__file__)[:-3] # convert "<lidar_name>.launch.py" to "<lidar_name>.launch"
launch_file_path = os.path.join(sick_scan_pkg_prefix, 'launch/' + launchfile) # 'launch/sick_picoscan.launch')
node_arguments=[launch_file_path]

# append optional commandline arguments in name:=value syntax
for arg in sys.argv:
    if len(arg.split(":=")) == 2:
        node_arguments.append(arg)

ROS_DISTRO = os.environ.get('ROS_DISTRO') # i.e. 'eloquent', 'foxy', etc.
if ROS_DISTRO[0] <= "e": # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
    node = Node(
        package='sick_scan_xd',
        node_executable='sick_generic_caller',
        output='screen',
        arguments=node_arguments
    )
else: # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
    node = Node(
        package='sick_scan_xd',
        executable='sick_generic_caller',
        output='screen',
        arguments=node_arguments
    )

ld.add_action(node)
return ld

<?xml version="1.0"?>

`

[rostest]

Thank you for your feedback. Due to a configuration issue, the full frame point clouds are not published if the configured rotation is only about the z axis (i.e. roll=0, pitch=0, yaw!=0). Please use the update provided in branch https://github.com/SICKAG/sick_scan_xd/tree/feature/issue_update_2407xx (driver/src/sick_scansegment_xd/config.cpp modified), rebuild and run again.

Note that the parameter "add_transform_xyz_rpy" expects 6 comma separated values. Please replace <param name="add_transform_xyz_rpy" type="string" value="0.398 -0.213 0.12,0,0,-0.785398" /> (missing commas) with <param name="add_transform_xyz_rpy" type="string" value="0.398,-0.213,0.12,0,0,-0.785398" /> (or any other transform you want to apply) in your launch file.

[ravikiransama]

Thank you for the suggestion. It works now with the update in the branch. Regarding the "add_transform_xyz_rpy" , it was typo mistake. The api now publishes the correctly. Another question, do you have any suggestion for merging 2 laser scanners? For some reason ira laser tools is not working with the sick scanners - pico100.