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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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could not get this data through the msg_fields_buffer.name #412

Closed Jonny0816 closed 2 weeks ago

Jonny0816 commented 3 weeks ago

Dear Sir

A customer use driver under unbantu without ros for picoScan150. They feedback just can get the intensity data through the msg_fields_buffer[n]. name and without others data. Such as: fields_offset_rang:-1 fields_offset_azimuth:-1 fields_offset_elevation:-1 fields_offset_intensity:12 fields_offset_t:-1 Please help to check what is the reason and how to deal with it, Thanks.

rostest commented 3 weeks ago

Thank you for your feedback. I think this is the same problem as in the https://github.com/SICKAG/sick_scan_xd/issues/410#issuecomment-2443725824 issue. Otherwise, please post more information, i.e. which API functions, parameters and callbacks your customer is using.

The customer can get the range,azimuth,elevation,i fields by registering a polar point cloud callback. Function SickScanApiRegisterCartesianPointCloudMsg registers for cartesian point clouds with the fields x,y,z,i; function SickScanApiRegisterPolarPointCloudMsg registers for polar point clouds with the fields azimuth,elevation,range,i. Simply replace SickScanApiRegisterCartesianPointCloudMsg(apiHandle, customizedPointCloudMsgCb) with SickScanApiRegisterPolarPointCloudMsg(apiHandle, customizedPointCloudMsgCb) in the code and the callback should get azimuth,elevation,range,i.

See the Generic Driver API for examples and details.