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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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Set Edge filter from from sick_lms_4xxx.launch file #89

Closed visiont3lab closed 2 years ago

visiont3lab commented 2 years ago

I would like to set the parameters Edge filter active and Max Neighbor distance. Is it possible to do this from the ros2 launch file sick_lms_4xxx.launch ? I am using a LMS41xxx laser.

rostest commented 2 years ago

Configuration of edge filter and max neighbor distance by launchfile is currently not supported. We recommend to configure the filter with SOPAS ET and store the settings permanently in the lidar eeprom.

You may try to activate or set the edge filter by sending sopas commands directly to the lidar using ros service ColaMsg, which is provided by sick_scan_xd. Launch sick_scan and run e.g.

rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sMN SetAccessMode 3 F4724744'}"
rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sWN LFPedgefilter 1'}"
rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sWN LFPedgefilterMaxDist 0001'}"
rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sMN Run'}"

I have not tested this command sequence, please take it just as an additional hint. Note, that setting the filter via SOPAS ET is the preferred and recommended way.